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Nonlinear controllers for non-integrable systems: the Acrobot example

Hauser, John and Murray, Richard M. (1990) Nonlinear controllers for non-integrable systems: the Acrobot example. In: 1990 American Control Conference. IEEE , Piscataway, NJ, pp. 669-671.

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Recent developments in the theory of geometric nonlinear control provide powerful methods for controller design for a large class of nonlinear systems. Many systems, however, do not satisfy the restrictive conditions necessary for either full state linearization [6, 5] or input-output linearization with internal stability [2]. In this paper, we present an approach to controller design based on finding a linearizable nonlinear system that well approximates the true system over a desirable region. We outline an engineering procedure for constructing the approximating nonlinear system given the true system. We demonstrate this approach by designing a nonlinear controller for a simple mechanical system patterned after a gymnast performing on a single parallel bar.

Item Type:Book Section
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Murray, Richard M.0000-0002-5785-7481
Additional Information:© 1990 IEEE. Research supported in part by an IBM Manufacturing fellowship.
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Record Number:CaltechAUTHORS:20190319-104216033
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Official Citation:J. Hauser and R. M. Murray, "Nonlinear controllers for non-integrable systems: the Acrobot example," 1990 American Control Conference, San Diego, CA, USA, 1990, pp. 669-671. doi: 10.23919/ACC.1990.4790817
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:93963
Deposited By: Tony Diaz
Deposited On:19 Mar 2019 18:10
Last Modified:16 Nov 2021 17:01

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