Abstract
A systematic controller design method for nonlinear control affine systems under hard state constraints is presented, which is based on Input-Output Linearization and Invariauce Control. The invariance controller is designed as an add-on to an ordinary controller and enforces compliance with state contraints without weakening stability. The approach is demonstrated by simulation of an electro magnetically actuated mass spring damper system.
Original language | English |
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Pages (from-to) | 555-560 |
Number of pages | 6 |
Journal | IFAC Proceedings Volumes (IFAC-PapersOnline) |
Volume | 37 |
Issue number | 13 |
DOIs | |
State | Published - 2004 |
Event | 6th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2004 - Stuttgart, Germany Duration: 1 Sep 2004 → 3 Sep 2004 |
Keywords
- Constraints
- Invariance
- Nonlinear control systems