Tracking Control for Port-Hamiltonian Systems using Feedforward and Feedback Control and a State Observer
Sprache des Vortragstitels:
17th World Congress IFAC, Seoul, Korea, 2008
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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.