Matching and digital control implementation for underactuated systems

Matching and digital control implementation for underactuated systems

This paper describes two problems related to the digital implementation of control laws in the infinite dimensional family of matching control laws, namely state estimation and sampled data induced error. The entire family of control laws is written for an inverted pendulum cart. Numerical simulatio...

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Hauptverfasser: Andreev, F., Auckly, D., Kapitanski, L., Kelkar, A.G., White, W.N.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Continuous time systems
Control systems
Digital control
Eigenvalues and eigenfunctions
Lyapunov method
Mathematics
Nonlinear control systems
Sampling methods
State estimation
State feedback
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Beschreibung
Zusammenfassung:This paper describes two problems related to the digital implementation of control laws in the infinite dimensional family of matching control laws, namely state estimation and sampled data induced error. The entire family of control laws is written for an inverted pendulum cart. Numerical simulations which include sampled data and a state estimator are presented for one of the control laws in this family.
ISSN:0743-1619
2378-5861
DOI:10.1109/ACC.2000.876960