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Flatness-based estimated state feedback control for a rotating flexible beam: experimental results

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2 Author(s)
Barczyk, M. ; Dept. of Electr. & Comput. Eng., Univ. of Alberta, Edmonton, AB ; Lynch, A.F.

A novel flatness-based estimated state feedback control design for a rotating flexible beam is introduced. The horizontally rotating beam is modelled as a boundary controlled Euler-Bernoulli partial differential equation. A so-called flat output is introduced in order to parameterise the system's variables in power series. These series lead to open- and closed-loop controls which can solve finite-time motion planning problems. The performance of the proposed control is experimentally compared with existing control methods for certain rest-to-rest motion planning problems.

Published in:

Control Theory & Applications, IET  (Volume:2 ,  Issue: 4 )