On the controller and observer design of non-redundant linear mechanical systems including actuator dynamics
作者:
XIAOHANG ZHANG,
期刊:
International Journal of Control
(Taylor Available online 1996)
卷期:
Volume 65,
issue 5
页码: 827-845
ISSN:0020-7179
年代: 1996
DOI:10.1080/00207179608921724
出版商: Taylor & Francis Group
数据来源: Taylor
摘要:
This paper presents an efficient and systematic approach to designing a feedback controller and an observer for non-redundant linear multi-degrees of freedom mechanical systems including actuator dynamics. Taking into account the system symmetries, four block canonical forms are introduced. The submatrices of the block normal forms produce two matrix polynomials. Based on them, the pole placement method can be successfully applied to design both the state feed-back controller and the observer. To implement the controller and observer designed, symbolic computation is used.
点击下载:
PDF (318KB)
返 回