Matching and digital control implementation for underactuated systems
F. Andreev, D. Auckly, L. Kapitanski, A. G. Kelkar, W. N. White
TL;DR
This paper discusses the digital implementation challenges of matching control laws for underactuated systems, focusing on state estimation and sampling errors, demonstrated through simulations on an inverted pendulum cart.
Contribution
It introduces a framework for implementing matching control laws digitally, addressing state estimation and sampling errors with simulations on an inverted pendulum.
Findings
Sampled data and state estimation impact control performance
Numerical simulations validate the proposed implementation approach
The control laws are adaptable to digital systems for underactuated systems
Abstract
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 sampled data induced error. The entire family of control laws is written for an inverted pendulum cart. Numerical simulations which include sampled data and a state estimator are presented for one of the control laws in this family.
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Taxonomy
TopicsStability and Controllability of Differential Equations · Control Systems and Identification · Iterative Learning Control Systems