NONLINEAR CONTROLLER COMPARISON ON A BENCHMARK ...
NONLINEAR CONTROLLER COMPARISON ON A BENCHMARK ...
NONLINEAR CONTROLLER COMPARISON ON A BENCHMARK ...
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Response in cm<br />
Response in cm<br />
4<br />
3<br />
2<br />
1<br />
0<br />
−1<br />
−2<br />
−3<br />
SGA: Nonlinear Optimal<br />
Linearized Optimal<br />
−4<br />
0 1 2 3 4 5<br />
Time<br />
6 7 8 9 10<br />
4<br />
3<br />
2<br />
1<br />
0<br />
−1<br />
−2<br />
−3<br />
Figure 4.14: SGA: Nonlinear H 2 vs. Linear Optimal control<br />
SGA: Nonlinear Optimal<br />
Linearized Robust<br />
−4<br />
0 1 2 3 4 5<br />
Time<br />
6 7 8 9 10<br />
Figure 4.15: SGA: Nonlinear H 2 vs. Linear Robust Control<br />
40
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