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Nonlinear control via approximate input-output linearization: the ball and beam example

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3 Author(s)
Hauser, J. ; Dept. of Electr. Eng.-Syst., Univ. of Southern California, Los Angeles, CA, USA ; Sastry, S. ; Kokotovic, Petar

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

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Automatic Control, IEEE Transactions on  (Volume:37 ,  Issue: 3 )