Nonlinear Feedback Controller Design Based on a Geometric Consideration in the Phase Plane Behavior for Single Input Nonlinear System
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- SUZUKI Hiroshi
- Graduate School of Engineering, Tokyo Institute of Technology
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- SEKIGUCHI Kazuma
- Graduate School of Engineering, Tokyo Institute of Technology
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- SAMPEI Mitsuji
- Graduate School of Engineering, Tokyo Institute of Technology
Bibliographic Information
- Other Title
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- 1入力非線形システムに対する位相面における幾何学的考察に基づく非線形コントローラの設計
- 1 ニュウリョク ヒセンケイ システム ニ タイスル イソウメン ニ オケル キカガクテキ コウサツ ニ モトズク ヒセンケイ コントローラ ノ セッケイ
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Abstract
In this paper, we propose the nonlinear feedback controller design based on the phase plane behavior. The controller is to minimize the difference of two vector fields: the nonlinear closed-loop vector fields and the stabilized closed-loop vector fields of linear approximation with linear controller. The stability of the controller is guaranteed by considering the Lyapunov function on the phase plane. The effectiveness of the proposed controller is shown by the simulation of a general inverted pendulum. The results show that the stabilized domain is extended. In this model, we use the coordinate transform to extend the stabilized domain further.
Journal
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- Transactions of the Society of Instrument and Control Engineers
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Transactions of the Society of Instrument and Control Engineers 49 (10), 944-951, 2013
The Society of Instrument and Control Engineers
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Keywords
Details 詳細情報について
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- CRID
- 1390282679481742336
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- NII Article ID
- 130004549701
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- NII Book ID
- AN00072392
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- ISSN
- 18838189
- 04534654
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- NDL BIB ID
- 024945091
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed
