Matching and digital control implementation for underactuated systems
Optimization and Control
2007-05-23 v1
Abstract
This note describes two problems related to the digital implementation of control laws in the infinite dimensional family of matching control laws, namely state estimation and sampled data induced error. The entire family of control laws is written for an inverted pendulum cart. Numerical simulations which include sampled data and a state estimator are presented for one of the control laws in this family.
Keywords
Cite
@article{arxiv.math/0003196,
title = {Matching and digital control implementation for underactuated systems},
author = {F. Andreev and D. Auckly and L. Kapitanski and A. G. Kelkar and W. N. White},
journal= {arXiv preprint arXiv:math/0003196},
year = {2007}
}