Authors

Richard Stadlmayr, Kurt Schlacher

Abstract

This contribution is about the combination of a feedforward and a feedback controller and a reduced state observer in order to stabilize the trajectories of a nonlinear plant. Port-Hamiltonian systems provide some special mathematical properties and have turned out beneficial for the stability analysis of nonlinear control systems. The combination of a feedforward and feedback controller allows us to achieve good tracking and the rejection of disturbances and parameter variations. In addition the extension of the nonlinear control scheme with a state observer allows a reduction of the number of measured quantities. This approach will be shown for the example Ball on the Wheel.

Keywords

Nonlinear Control; Port-Hamiltonian Systems; Output Tracking; Mechatronics

Citation

  • Journal: IFAC Proceedings Volumes
  • Year: 2008
  • Volume: 41
  • Issue: 2
  • Pages: 1833–1838
  • Publisher: Elsevier BV
  • DOI: 10.3182/20080706-5-kr-1001.00313
  • Note: 17th IFAC World Congress

BibTeX

@article{Stadlmayr_2008,
  title={{Tracking Control for Port-Hamiltonian Systems using Feedforward and Feedback Control and a State Observer}},
  volume={41},
  ISSN={1474-6670},
  DOI={10.3182/20080706-5-kr-1001.00313},
  number={2},
  journal={IFAC Proceedings Volumes},
  publisher={Elsevier BV},
  author={Stadlmayr, Richard and Schlacher, Kurt},
  year={2008},
  pages={1833--1838}
}

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References