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math.OC2000
Matching, linear systems, and the ball and beam
Fedor Andreev, David Auckly, Lev Kapitanski +3
A recent approach to the control of underactuated systems is to look for control laws which will induce some specified structure on the closed loop system. This basic idea is used…
math.OC2000
Matching and digital control implementation for underactuated systems
F. Andreev, D. Auckly, L. Kapitanski +2
This note describes two problems related to the digital implementation of control laws in the infinite dimensional family of matching control laws, namely state estimation and samp…
math.OC2000
Matching control laws for a ball and beam system
F. Andreev, D. Auckly, L. Kapitanski +2
This note describes a method for generating an infinite-dimensional family of nonlinear control laws for underactuated systems. For a ball and beam system, the entire family is fou…