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Gain scheduling via control signal interpolation: the ball and beam example

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2 Author(s)
Ignatov, R.P. ; Sch. of Electr. Eng. & Comput. Sci., Ohio Univ., Athens, OH, USA ; Lawrence, D.A.

This paper presents an approach to gain scheduled controller design based on plant linearizations about equilibria. This method yields controllers that automatically have a desired linearization property and also assume a linear parameter-varying form. The approach eliminates the necessity for measurement of time-derivatives of certain controller inputs as required in related work. A gain scheduled controller involving linear interpolation of the control signal is designed for the well-known ball and beam experiment to illustrate the technique. Nonlinear simulation results indicate satisfactory performance over the specified range of ball position

Published in:

System Theory, 2001. Proceedings of the 33rd Southeastern Symposium on

Date of Conference:

Mar 2001