Nonlinear control via approximate input-output linearization: the ball and beam example
- 1 March 1992
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 37 (3) , 392-398
- https://doi.org/10.1109/9.119645
Abstract
Approximate input-output linearization of nonlinear systems which fail to have a well defined relative degree is studied. For such systems, a method for constructing approximate systems that are input-output linearizable is provided. The analysis presented is motivated through its application to a common undergraduate control laboratory experiment-the ball and beam-where it is shown to be more effective for trajectory tracking than the standard Jacobian linearization.<>Keywords
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