Matching, linear systems, and the ball and beam

F Andreev; D Auckly; S Gosavi; L Kapitanski; A Kelkar; W White

doi:10.1016/S0005-1098(02)00145-0

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Matching, linear systems, and the ball and beam

Journal article

Peer reviewed

Matching, linear systems, and the ball and beam

F Andreev, D Auckly, S Gosavi, L Kapitanski, A Kelkar and W White

Automatica (Oxford), Vol.38(12), pp.2147-2152

2002

DOI: https://doi.org/10.1016/S0005-1098(02)00145-0

Abstract

Control design

Lambda-method

Underactuated systems

A recent approach to the control of underactuated systems is to look for control laws which will induce some specified structure on the closed loop system. In this paper, we describe one matching condition and an approach for finding all control laws that fit the condition. After an analysis of the resulting control laws for linear systems, we present the results from an experiment on a nonlinear ball and beam system.

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Collaboration types: Domestic collaboration
Citation topics: 4 Electrical Engineering, Electronics & Computer Science; 4.29 Automation & Control Systems; 4.29.104 Adaptive Control
Web Of Science research areas: Automation & Control Systems; Engineering, Electrical & Electronic
ESI research areas: Engineering

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Details

Title: Matching, linear systems, and the ball and beam
Creators: F Andreev - Department of Mathematics, Western Illinois University, Macomb, IL 61455, USA
D Auckly - Department of Mathematics, Kansas State University, Manhattan, KS 66506, USA
S Gosavi - Department of Mechanical and Nuclear Engineering, Kansas State University, Manhattan, KS 66506, USA
L Kapitanski - Department of Mathematics, Kansas State University, Manhattan, KS 66506, USA
A Kelkar - Department of Mechanical Engineering, Iowa State University, Ames, IA 50011, USA
W White - Department of Mechanical and Nuclear Engineering, Kansas State University, Manhattan, KS 66506, USA
Publication Details: Automatica (Oxford), Vol.38(12), pp.2147-2152
Publisher: Elsevier Ltd
Academic Unit: College of A&S; A&S - Mathematics
Language: English
Resource Type: Journal article
Record Identifier: 991031614741902976