FEEDBACK STABILIZATION OF THE TORA SYSTEM VIA INTERCONNECTION AND DAMPING ASSIGNMENT CONTROL

Authors

Atilio Morillo, Miguel Ríos-Bolívar, Vivian Acosta

Abstract

In this work, we consider the feedback stabilization problem of the so-called Translational Oscillator with a Rotational Actuator (TORA) system by applying the Interconnection and Damping Assignment (IDA) control methodology. To achieve this goal, the mechanical system is firstly transformed into the general port controlled Hamiltonian form and, then, the IDA design procedure is applied to synthesize the stabilizing control law. The Hamiltonian structure of the closed loop system is preserved and asymptotic stability of the mechanical position is achieved, which is verified by digital simulations.

Keywords

asymptotic stabilization, design methods, nonlinear system control

Citation

Journal: IFAC Proceedings Volumes
Year: 2008
Volume: 41
Issue: 2
Pages: 3781–3786
Publisher: Elsevier BV
DOI: 10.3182/20080706-5-kr-1001.00637
Note: 17th IFAC World Congress

BibTeX

@article{Morillo_2008,
  title={{FEEDBACK STABILIZATION OF THE TORA SYSTEM VIA INTERCONNECTION AND DAMPING ASSIGNMENT CONTROL}},
  volume={41},
  ISSN={1474-6670},
  DOI={10.3182/20080706-5-kr-1001.00637},
  number={2},
  journal={IFAC Proceedings Volumes},
  publisher={Elsevier BV},
  author={Morillo, Atilio and Ríos-Bolívar, Miguel and Acosta, Vivian},
  year={2008},
  pages={3781--3786}
}

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References

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