Richard Stadlmayr, Kurt Schlacher,
"Tracking Control for Port-Hamiltonian Systems using Feedforward and Feedback Control and a State Observer"
: Proceedings of the 17th World Congress IFAC, Seoul, Korea, 2008, Seite(n) 1833-1838, 7-2008, ISBN: 978-3-902661-00-5
Original Titel:
Tracking Control for Port-Hamiltonian Systems using Feedforward and Feedback Control and a State Observer
Sprache des Titels:
Englisch
Original Buchtitel:
Proceedings of the 17th World Congress IFAC, Seoul, Korea, 2008
Original Kurzfassung:
This contribution is about the combination of a feedforward and feedback controller and a reduced state observer in order to stabilize the trajectories of a nonlinear plant. Port-Hamiltonian systems provide some special mathematical properties and have turned out beneficial for the stability analysis of nonlinear control systems. The combination of a feedforward and feedback controller allows us to achieve good tracking and the rejection of disturbances and parameter variations. In addition the extension of the nonlinear control scheme with a state observer allows a reduction of the number of measured quantities. This approach will be shown for the example BALL ON THE WHEEL.
Sprache der Kurzfassung:
Englisch
Seitenreferenz:
1833-1838
Erscheinungsmonat:
7
Erscheinungsjahr:
2008
ISBN:
978-3-902661-00-5
Anzahl der Seiten:
6
Notiz zur Publikation:
Stadlmayr R., Schlacher K.: Tracking Control for Port-Hamiltonian Systems using Feedforward and Feedback Control and a State Observer In: CD Proceedings of the 17th World Congress IFAC, July 6-11, Seoul, Korea, pp. 1833-1838, 2008.
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