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Generating oscillations in inertia wheel pendulum via two‐relay controller
Author(s) -
Aguilar Luis T.,
Boiko Igor M.,
Fridman Leonid M.,
Freidovich Leonid B.
Publication year - 2012
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1696
Subject(s) - control theory (sociology) , relay , inertia , linearization , pendulum , frequency domain , controller (irrigation) , amplitude , computer science , nonlinear system , mathematics , control engineering , engineering , physics , mathematical analysis , control (management) , classical mechanics , mechanical engineering , agronomy , power (physics) , quantum mechanics , artificial intelligence , biology
The problem of generating oscillations of the inertia wheel pendulum is considered. We combine exact feedback linearization with two‐relay controller, tuned using frequency‐domain tools, such as computing the locus of a perturbed relay system. Explicit expressions for the parameters of the controller in terms of the desired frequency and amplitude are derived. Sufficient conditions for orbital asymptotic stability of the closed‐loop system are obtained with the help of the Poincaré map. Performance is validated via experiments. The approach can be easily applied for a minimum phase system, provided the behavior of the states of the zero dynamics is of no concern. Copyright © 2011 John Wiley & Sons, Ltd.