CONTROLLER DESIGN FOR NONLINEAR SYSTEMS
Amir Nassirharand
Broschiertes Buch

CONTROLLER DESIGN FOR NONLINEAR SYSTEMS

SIMULTANEOUS STABILIZATION THEORY AND DESCRIBING FUNCTION MODELS

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This publication investigates the applicability of the simultaneous stabilization theory to design of linear controllers based on two quasilinear models of a highly nonlinear plant. For a robotic problem, it is found that a linear controller, that stabilizes the two linear approximations of the quasilinear models and achieves certain performance measures for both linear plants, may indeed stabilize and force the actual nonlinear feedback system to satisfy a set of performance measures. However, there may be cases that this would not be true. The design procedure involves direct simulation and ...