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Matching and digital control implementation for underactuated systems
Conference proceeding

Matching and digital control implementation for underactuated systems

F Andreev, D Auckly, L Kapitanski, A.G Kelkar and W.N White
Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334), Vol.6, pp.3934-3938 vol.6
2000
DOI: https://doi.org/10.1109/ACC.2000.876960

Abstract

Continuous time systems Control systems Digital control Eigenvalues and eigenfunctions Lyapunov method Mathematics Nonlinear control systems Sampling methods State estimation State feedback
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.

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