TY - GEN
T1 - Trajectory tracking control with flat inputs and a dynamic compensator
AU - Stumper, Jean Francois
AU - Svaricek, Ferdinand
AU - Kennel, Ralph
N1 - Publisher Copyright:
© 2009 EUCA.
PY - 2014/3/26
Y1 - 2014/3/26
N2 - This paper proposes a tracking controller based on the concept of flat inputs and a dynamic compensator. Flat inputs represent a dual approach to flat outputs. In contrast to conventional flatness-based control design, the regulated output may be a non-flat output, or the system may be non-flat. The method is applicable to observable systems with stable internal dynamics. The performance of the new design is demonstrated on the variable-length pendulum, a non-flat nonlinear system with a singularity in the relative degree.
AB - This paper proposes a tracking controller based on the concept of flat inputs and a dynamic compensator. Flat inputs represent a dual approach to flat outputs. In contrast to conventional flatness-based control design, the regulated output may be a non-flat output, or the system may be non-flat. The method is applicable to observable systems with stable internal dynamics. The performance of the new design is demonstrated on the variable-length pendulum, a non-flat nonlinear system with a singularity in the relative degree.
UR - http://www.scopus.com/inward/record.url?scp=84955190183&partnerID=8YFLogxK
U2 - 10.23919/ecc.2009.7074412
DO - 10.23919/ecc.2009.7074412
M3 - Conference contribution
AN - SCOPUS:84955190183
T3 - 2009 European Control Conference, ECC 2009
SP - 248
EP - 253
BT - 2009 European Control Conference, ECC 2009
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2009 10th European Control Conference, ECC 2009
Y2 - 23 August 2009 through 26 August 2009
ER -