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|標題:||Application of feedback linearization to tracking and almost disturbance decoupling control of the AMIRA ball and beam system||作者:||Chen, C.C.
|關鍵字:||Almost disturbance decoupling;feedback linearization;composite;Lyapunov approach;AMIRA ball and beam system;singularly-perturbed;system;h-infinity control;singularly perturbed systems;dynamic surface;control;nonlinear-systems;output-feedback;fast actuators;design||Project:||Journal of Optimization Theory and Applications||期刊/報告no：:||Journal of Optimization Theory and Applications, Volume 121, Issue 2, Page(s) 279-300.||摘要:||
This paper studies the tracking and almost disturbance decoupling problem of the nonlinear AMIRA ball and beam system based on the feedback linearization approach. The main contribution of this study is to construct a controller, under appropriate conditions, such that the resulting closed-loop system is valid for any initial condition and bounded tracking signal with the following characteristics: input-to-state stability with respect to disturbance inputs and almost disturbance decoupling. Two examples on the almost disturbance decoupling problem, which cannot be solved via Ref. 1, are proposed in this paper exploiting the fact that the tracking and the almost disturbance decoupling performances are easily achieved by our proposed approach.
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