Generalized block control principle

S. Rao, H. Brandtstädter, V. Utkin, M. Buss

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

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.

Original languageEnglish
Title of host publicationProceedings of the 16th IFAC World Congress, IFAC 2005
PublisherIFAC Secretariat
Pages229-234
Number of pages6
Edition1
ISBN (Print)008045108X, 9780080451084
DOIs
StatePublished - 2005

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1
Volume38
ISSN (Print)1474-6670

Keywords

  • Mechanical systems
  • Order reduction
  • Sliding mode control
  • Unstable zero dynamics

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