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 />
Passivity Based Control<br />
−4<br />
0 1 2 3 4 5<br />
Time<br />
6 7 8 9 10<br />
5<br />
4<br />
3<br />
2<br />
1<br />
0<br />
−1<br />
−2<br />
−3<br />
Figure 4.16: SGA: Nonlinear H 2 vs. Passivity Based Control<br />
SGA: Nonlinear Optimal<br />
Backstepping<br />
−4<br />
0 1 2 3 4 5<br />
Time<br />
6 7 8 9 10<br />
Figure 4.17: SGA: Nonlinear H 2 vs. Backstepping Control<br />
41
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