Generalized Block Control Principle
| Authors: | Brandtstädter Heide, Technische Universitaet Muenchen, Germany
Rao Sachit, The Ohio State University, United States
Utkin Vadim, The Ohio State University, United States
Buss Martin, Technische Universitaet Muenchen, Germany |
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| Topic: | 2.3 Non-Linear Control Systems |
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| Session: | Nonlinear Stabilization II |
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| Keywords: | mechanical systems, sliding mode control, unstable zero dynamics, order reduction |
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Abstract
This article proposes a generalized block control principle. The algorithm, developed in the framework of sliding mode control, offers insensitivity to parameter variations and external disturbances and simplification of the control design.In contrast to the known Block Control Principle, decomposing of the system into blocks where the dimension of state and control input coincide is not required. This way the range of dynamic systems the principle can be applied to is enlarged and computational effort is reduced. In particular, the application to under-actuated mechanical systems and the problem of stabilization of systems with unstable zero dynamics are regarded.
