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Generating oscillat...
Generating oscillations in inertia wheel pendulum via two-relay controller
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Aguilar, Luis T. (author)
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Boiko, Igor M. (author)
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Fridman, Leonid M. (author)
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- Freidovich, Leonid B. (author)
- Umeå universitet,Institutionen för tillämpad fysik och elektronik
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(creator_code:org_t)
- 2011-02-04
- 2012
- English.
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In: International Journal of Robust and Nonlinear Control. - Malden : Wiley-Blackwell. - 1049-8923 .- 1099-1239. ; 22:3, s. 318-330
- Related links:
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Subject headings
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- The problem of generating oscillations of the inertia wheel pendulum is considered. We combine exact feedback linearization with two-relay controller, tuned using frequency-domain tools, such as computing the locus of a perturbed relay system. Explicit expressions for the parameters of the controller in terms of the desired frequency and amplitude are derived. Sufficient conditions for orbital asymptotic stability of the closed-loop system are obtained with the help of the Poincare map. Performance is validated via experiments. The approach can be easily applied for a minimum phase system, provided the behavior of the states of the zero dynamics is of no concern. Copyright (C) 2011 John Wiley & Sons, Ltd.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Keyword
- variable structure controller
- inertia wheel pendulum
- periodic motion
- Poincare map
Publication and Content Type
- ref (subject category)
- art (subject category)
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