Ball on a beam: Stabilization under saturated input control with large basin of attraction (Q1023991)
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| Language | Label | Description | Also known as |
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| English | Ball on a beam: Stabilization under saturated input control with large basin of attraction |
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Ball on a beam: Stabilization under saturated input control with large basin of attraction (English)
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16 June 2009
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The authors consider the well-known straight beam-and-ball system and a new circular beam-and-ball system. In particular, they study the stabilization of unstable equilibria of these systems. The model linearized near the unstable equilibrium of the straight beam-and-ball system has only one unstable mode. Simulation results are given for completely nonlinear systems. These results are close to the results for linear systems, which illustrates the efficiency of the used control laws.
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controllability domain
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Jordan form
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circular beam
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linearization
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