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Stabilization using pseudolinearization and high-gain feedback

Authors
  • Davison, Daniel E.
  • Bortoff, Scott A.
Type
Published Article
Journal
Automatica
Publisher
Elsevier
Publication Date
Jan 01, 1997
Accepted Date
Aug 06, 1996
Volume
33
Issue
2
Pages
245–251
Identifiers
DOI: 10.1016/S0005-1098(96)00148-3
Source
Elsevier
Keywords
License
Unknown

Abstract

This paper investigates stabilization of single-input nonlinear systems by switching between two separate nonlinear feedback controllers. The first, a pseudolinear controller, provides a region of attraction %plane1D;4B0; 0 around the equilibrium manifold. The second controller is high gain, and is designed to drive the state originating in a (larger) set of initial conditions %plane1D;4B0; 1 into %plane1D;4B0; 0. When the state enters %plane1D;4B0; 0, the control is switched from the high-gain control to the pseudolinear control. Simple analytic estimates of both %plane1D;4B0; 0 and %plane1D;4B0; 1 are given. The method is applied in simulation to an acrobot, and in simulation and experiment to a rotating inverted pendulum.

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