TORA example: cascade- and passivity-based control designs
- 1 May 1996
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Control Systems Technology
- Vol. 4 (3) , 292-297
- https://doi.org/10.1109/87.491203
Abstract
We consider the problem of feedback stabilization of translational oscillations by a rotational actuator (TORA) system. The main obstacle to controller design is nonlinear coupling from the rotational to the translational motion through a sinusoidal term. We present several controller designs based on the cascade and passivity paradigms.Keywords
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