scholarly journals A constructive condition for dynamic feedback linearization

2004 ◽  
Vol 52 (5) ◽  
pp. 329-338 ◽  
Author(s):  
Stefano Battilotti ◽  
Claudia Califano
Author(s):  
Edgar I. Ergueta ◽  
Robert Seifried ◽  
Roberto Horowitz

This paper presents two different control strategies for paper position control in printing devices. The first strategy is based on feedback linearization plus dynamic extension (dynamic feed-back linearization). Even though this controller is very simple to design, we show that it is not able to handle actuator multiplicative uncertainties, and therefore it fails when it is implemented on the experimental setup. The second strategy we present uses similar concepts, but it is more robust since feedback linearization is used only to linearize the kinematics of the system and internal loops are used to locally control the actuator’s positions and velocities. Not only do we prove the robustness of the second control strategy, but we also show its successful implementation.


1995 ◽  
Vol 117 (4) ◽  
pp. 468-477 ◽  
Author(s):  
Gholamreza Vossoughi ◽  
Max Donath

Using the dynamic inversion principal, a globally linearizing feedback control law is developed for an electrohydraulic servo system. The proposed control law is implemented on a rotational joint driven by a linear actuator. The results from experiments indicate that better uniformity of response is achieved across a wider range of operating conditions than would otherwise be possible. Improved symmetry is obtained for the extension and retraction phases of motion for an asymmetric actuator under various loading conditions and actuator positions. As a result of the improvements in linearity, significantly better performance is achieved when using linear controllers. To incorporate the effects of parametric uncertainties on the feedback linearization, a state space linear fractional representation of the parametrically uncertain linearized system is also developed. This uncertainty model is specifically suited for the design of robust control systems using the μ-synthesis and H∞ based approach.


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