Femlab-Based Output Regulation of Nonhyperbolically Nonminimum Phase System and its Real-Time Implementation
| Authors: | Rehak Branislav, Czech Technical University in Prague, Czech Republic
Orozco-Mora Jorge, CINVESTAV-IPN, Unidad Guadalajara, Mexico
Celikovsky Sergej, Institute of Information Theory and Automation, Czech Republic
Ruis-Leon Javier, CINVESTAV-IPN, Unidad Guadalajara, Mexico |
|---|
| Topic: | 2.3 Non-Linear Control Systems |
|---|
| Session: | Nonlinear Observers and Output Feedback |
|---|
| Keywords: | Nonlinear control systems, output regulation, partial differential equations, singularly perturbed differential equations, gyroscopes |
|---|
Abstract
The aim of this paper is twofold. First, it provides another option how to obtain a universal easily implementable method for the solution of the regulator equations using the FEMLAB package. The regulator equation originates from the output regulation problem. The main idea of the presented method is making a slight change of the regulator equation. It is then solved using the finite-elementmethod. Some theoretical aspects concerning solvability of the equations and convergence to the original problem are introduced. Secondly, to demonstrate viability of our approach, the results were applied to the real-time control of a gyroscope. Both simulations and real-time laboratory experiments are included.
