Evaluation of Linearization Methods for Control of the Pendubot
| Autor: | P. Parulski, Dariusz Pazderski, Patryk Bartkowiak |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
Fluid Flow and Transfer Processes
Technology QH301-705.5 Computer science Physics QC1-999 Process Chemistry and Technology Control (management) General Engineering linearization Engineering (General). Civil engineering (General) Computer Science Applications Chemistry Control theory Position (vector) Linearization control of mechanical systems Partial feedback linearization General Materials Science TA1-2040 Biology (General) differential geometry QD1-999 Instrumentation |
| Zdroj: | Applied Sciences Volume 11 Issue 16 Applied Sciences, Vol 11, Iss 7615, p 7615 (2021) |
| ISSN: | 2076-3417 |
| DOI: | 10.3390/app11167615 |
| Popis: | The aim of this paper is to test the usefulness of a new approach based on partial feedback linearization to control the Pendubot. The control problem stated in the article is to stabilize the Pendubot in the upright position. In particular, properties of the closed-loop system and the zero dynamics are investigated and illustrated by results of simulations. Next, the performance of a hybrid-like controller in the case of input saturation is evaluated by conduction extensive simulation trails. The experimental results suggest that the considered control methodology can be successfully applied for a real system. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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