NONLINEAR CONTROLLER COMPARISON ON A BENCHMARK ...

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[8] V.T. Coppola R.T. Bupp and D.S. Bernstein, \Vibration suppression of multi- modal translational motion using a rotational actuator", in Proceedings of the American Control Conference, Seattle, WA, June 1995, pp. 4363{4367. [9] H. Sira-Ramirez G. Escobar, R. Ortega, \Ouput-feedback global stabilization of a nonlinear benchmark system using a saturated passivity-based controller", IEEE Transactions on Control Systems Technology, vol. 7, no. 2, pp. 289{293, March 1999. [10] R. Kelly R. Ortega, A. Loria and L. Praly, \On passivity-based output feedback global stabilization of euler-lagrange systems", Int. J. of Robust and Nonlinear Contr., vol. 5, pp. 313{323, 1995. [11] R. Ortega-V. Santibanez A. Loria, R. Kelly, \On global output feedback regu- lation of euler-lagrange systems with bounded inputs", IEEE Transactions on Automatic Control, vol. 42, pp. 1137{1143, 1997. [12] P. Kokotovic A. Saberi and H. Sussmann, \Global stabilization of partially linear composite systems", SIAM Journal on Control and Optimization, vol. 28, pp. 1491{1503, 1990. [13] C. Abdallah P. Dorato and V. Cerone, Linear-Quadratic Control: An Introduc- tion, Prentice Hall, Englewood Cli s, New Jersey, 1995. [14] Michael Green and David J. N. Limebeer, Linear Robust Control, Prentice Hall, 1995. [15] Gerando Escobar, Romeo Ortega, and Herbertt Sira-Ramirez, \Output-feedback global stabilization of a nonlinear benchmark system using a saturated passivity- based controller", IEEE Transactions on Automatic Control, vol. 7, no. 2, pp. 289{293, March 1999. [16] George N. Saridis and Chun-Sing G. Lee, \An approximation theory of optimal control for trainable manipulators", IEEE Transactions on Systems, Man, and Cybernetics, vol. 9, no. 3, pp. 152{159, March 1979. 66
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NONLINEAR CONTROLLER COMPARISON ON
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BRIGHAM YOUNG UNIVERSITY GRADUATE C
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ABSTRACT NONLINEAR CONTROLLER COMPA
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Contents Acknowledgments vi List of
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List of Tables 4.1 Tabular Comparis
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4.19 SGA: Nonlinear H1 vs. Linear O
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Figure 1.1: TORA System One of the
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1.3 Literature Review In surveying
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Chapter 2 Plant Speci cations and M
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Figure 2.2: Mechanical Model of Fle
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Figure 2.4: Translational Oscillati
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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 51 and 52: Response in cm 4 3 2 1 0 −1 −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 72 and 73: control was that it requires only t
Page 74 and 75: to the Galerkin approximation techn
Page 77: Bibliography [1] P. Kokotovic M. Ja
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