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 Robust<br />
Open Loop Response<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 4.18: SGA: Nonlinear H1 vs. Open Loop Response<br />
SGA: Nonlinear Robust<br />
Linearized Optimal<br />
−4<br />
0 1 2 3 4 5<br />
Time<br />
6 7 8 9 10<br />
Figure 4.19: SGA: Nonlinear H1 vs. Linear Optimal Control<br />
42
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