Model-Based Tracking Control of Nonlinear Systems (Modern by Elzbieta Jarzebowska PDF

By Elzbieta Jarzebowska

ISBN-10: 1439819815

ISBN-13: 9781439819814

Model-Based keep watch over of Nonlinear Systems provides model-based keep watch over ideas for nonlinear, restricted platforms. It covers optimistic keep watch over layout tools with an emphasis on modeling restricted platforms, producing dynamic regulate types, and designing monitoring keep watch over algorithms for the models.

The book’s interdisciplinary technique illustrates how procedure modeling and regulate concept are necessary to keep an eye on layout tasks. geared up in accordance with the stairs in a keep watch over layout venture, the textual content first discusses kinematic and dynamic modeling equipment, together with programmed constraints, Lagrange’s equations, Boltzmann−Hamel equations, and generalized programmed movement equations. the following bankruptcy describes simple keep an eye on thoughts and using nonlinear keep watch over idea. After exploring stabilization suggestions for nonlinear structures, the writer offers current model-based monitoring regulate algorithms and path-following thoughts for nonlinear structures. the ultimate bankruptcy develops a brand new version reference monitoring process for programmed motion.

Throughout the textual content, examples of mechanical structures are used to demonstrate the idea and simulation effects. the 1st instance is a unicycle version (nonholonomic procedure) and the second one is a two-link planar manipulator version (holonomic system). With a spotlight on confident modeling and keep an eye on tools, this ebook offers the instruments and methods to help the regulate layout procedure.

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