Output-feedback Design for Non-smooth Mechanical Systems
Control Synthesis and Experiments
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In this book, the focus is on two control problems for non-smooth systems. Firstly, the disturbance attenuation problem for piecewise linear (PWL) and piecewise affine (PWA) systems is studied. Here, we focus on applications in the field of perturbed flexible mechanical systems with PWL restoring characteristics. Secondly, the stabilization problem for Lur e type systems with set-valued nonlinearities is examined. In the latter context, the focus is on the application area of mechanical systems with set-valued friction characteristics, where the friction is non-collocated with the control acti...
In this book, the focus is on two control problems
for non-smooth systems. Firstly, the disturbance
attenuation problem for piecewise linear (PWL) and
piecewise affine (PWA) systems is studied. Here, we
focus on applications in the field of perturbed
flexible mechanical systems with PWL restoring
characteristics. Secondly, the stabilization problem
for Lur e type systems with set-valued
nonlinearities is examined. In the latter context,
the focus is on the application area of mechanical
systems with set-valued friction characteristics,
where the friction is non-collocated with the
control action. To deal with both the disturbance
attenuation and the stabilization problem, observer-
based output-feedback control strategies are
proposed. To show the strengths, weaknesses and
potential of output-feedback controllers beyond
their theoretical importance, it is indispensable to
evaluate them in experimental setups. Therefore, the
presented strategies are implemented to two case
studies: i) a PWL system, ii) a dynamic rotor system
with friction. These case studies can be considered
as benchmarks for the proposed strategies for non-
smooth and discontinuous systems.
for non-smooth systems. Firstly, the disturbance
attenuation problem for piecewise linear (PWL) and
piecewise affine (PWA) systems is studied. Here, we
focus on applications in the field of perturbed
flexible mechanical systems with PWL restoring
characteristics. Secondly, the stabilization problem
for Lur e type systems with set-valued
nonlinearities is examined. In the latter context,
the focus is on the application area of mechanical
systems with set-valued friction characteristics,
where the friction is non-collocated with the
control action. To deal with both the disturbance
attenuation and the stabilization problem, observer-
based output-feedback control strategies are
proposed. To show the strengths, weaknesses and
potential of output-feedback controllers beyond
their theoretical importance, it is indispensable to
evaluate them in experimental setups. Therefore, the
presented strategies are implemented to two case
studies: i) a PWL system, ii) a dynamic rotor system
with friction. These case studies can be considered
as benchmarks for the proposed strategies for non-
smooth and discontinuous systems.
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