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Nonlinear control via approximate input-output linearization - The ball and beam exampleA study is made of approximate input-output linearization of nonlinear systems which fail to have a well defined relative degree. For such systems, a method is provided for constructing approximate systems that are input-output linearizable. The analysis presented in this note is motivated through its application to a common undergraduate control laboratory experiment, the ball and beam system, where it is shown to be more effective for trajectory tracking than the standard Jacobian linearization.
Document ID
19920049179
Acquisition Source
Legacy CDMS
Document Type
Reprint (Version printed in journal)
External Source(s)
Authors
Hauser, John
(Southern California, University Los Angeles, CA, United States)
Sastry, Shankar
(California, University Berkeley, United States)
Kokotovic, Petar
(California, University Santa Barbara, United States)
Date Acquired
August 15, 2013
Publication Date
March 1, 1992
Publication Information
Publication: IEEE Transactions on Automatic Control
Volume: 37
ISSN: 0018-9286
Subject Category
Cybernetics
Accession Number
92A31803
Funding Number(s)
CONTRACT_GRANT: DAAL03-88-K-0572
CONTRACT_GRANT: NAG2-243
CONTRACT_GRANT: NSF ECS-88-18166
CONTRACT_GRANT: AF-AFOSR-90-0011
Distribution Limits
Public
Copyright
Other

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