Paul Felix Ludwig, Karl Rieger, Kurt Schlacher,
"Modelling, Simulation and Control of a Heavy Chain System"
: Computer Aided Systems Theory ? EUROCAST 2011, Serie Lecture Notes in Computer Science, 2012, ISBN: 978-3-642-27578-4
Modelling, Simulation and Control of a Heavy Chain System
Sprache des Titels:
Computer Aided Systems Theory ? EUROCAST 2011
This contribution deals with the modelling, simulation and
control of a particular heavy chain laboratory system which consists of a pivoted disc connected to a chain. First, the Hamilton principle is applied to obtain the governing mathematical equations in form of (nonlinear)
partial differential equations (with boundary conditions) and ordinary differential equations. The control law is derived by using the concept of passivity in combination with the backstepping method. Moreover, simulation and measurement results are provided.