NONLINEAR CONTROLLER COMPARISON ON A BENCHMARK ...

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Copyright c 2000 J. Willard Curtis III All Rights Reserved
BRIGHAM YOUNG UNIVERSITY GRADUATE COMMITTEE APPROVAL of a thesis submitted by J. Willard Curtis III This thesis has been read by each member of the following graduate committee and by majority vote has been found to be satisfactory. Date Randy W. Beard, Chair Date Wynn Stirling Date Timothy McLain
Page 1: NONLINEAR CONTROLLER COMPARISON ON
Page 5 and 6: ABSTRACT NONLINEAR CONTROLLER COMPA
Page 7 and 8: Contents Acknowledgments vi List of
Page 9: List of Tables 4.1 Tabular Comparis
Page 12 and 13: 4.19 SGA: Nonlinear H1 vs. Linear O
Page 14 and 15: Figure 1.1: TORA System One of the
Page 16 and 17: 1.3 Literature Review In surveying
Page 19 and 20: Chapter 2 Plant Speci cations and M
Page 21 and 22: Figure 2.2: Mechanical Model of Fle
Page 23 and 24: Figure 2.4: Translational Oscillati
Page 25 and 26: 2.3 Software Set-up All of the cont
Page 27 and 28: Chapter 3 Overview of Control Strat
Page 29 and 30: The optimal gain matrix was given b
Page 31 and 32: 3.3 Passivity-Based Control Certain
Page 33 and 34: limitations, k 1 and k 2 are tuning
Page 35 and 36: Now we regard as the control variab
Page 37 and 38: where V satis es the well known Ham
Page 39 and 40: ecause one can quickly adjust the Q
Page 41 and 42: Chapter 4 Simulation Results 4.1 Th
Page 43 and 44: disturbances, whereas the hardware
Page 45 and 46: Response in cm 4 3 2 1 0 −1 −2
Page 47 and 48: Response in cm Response in cm 4 3 2
Page 49 and 50: Response in cm Response in cm 5 4 3
Page 51 and 52: Response in cm 4 3 2 1 0 −1 −2
Page 53 and 54:
Response in cm Response in cm 4 3 2
Page 55 and 56:
Response in cm Response in cm 4 3 2
Page 57 and 58:
It is seen in Figure 4.23 that the
Page 59:
all of the physical parameters exce
Page 62 and 63:
Response in m 0.05 0.04 0.03 0.02 0
Page 64 and 65:
Response in m 0.05 0.04 0.03 0.02 0
Page 66 and 67:
Response in m Response in m 0.05 0.
Page 68 and 69:
Page 70 and 71:
Page 72 and 73:
control was that it requires only t
Page 74 and 75:
to the Galerkin approximation techn
Page 77 and 78:
Bibliography [1] P. Kokotovic M. Ja
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