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An application of robust feedback linearization to a ball and beam control problem

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3 Author(s)
B. C. Chang ; Dept. of Mech. Eng., Drexel Univ., Philadelphia, PA, USA ; H. Kwatny ; Shr-Shiung Hu

We show how μ-synthesis can greatly improve the robustness against the inexact cancellation arising in feedback input-output linearization of nonlinear systems. A simulation of the nonlinear ball and beam tracking problem illustrates that μ-synthesis controllers can offer much better robust stability and robust performance than H controllers

Published in:

Control Applications, 1998. Proceedings of the 1998 IEEE International Conference on  (Volume:1 )

Date of Conference:

1-4 Sep 1998