|
|
libcats.org
The Reaction Wheel PendulumKarl AstromThis monograph describes the Reaction Wheel Pendulum, the newest inverted-pendulum-like device for control education and research. We discuss the history and background of the reaction wheel pendulum and other similar experimental devices. We develop mathematical models of the reaction wheel pendulum in depth, including linear and nonlinear models, and models of the sensors and actuators that are used for feedback control. We treat various aspects of the control problem, from linear control of themotor, to stabilization of the pendulum about an equilibrium configuration using linear control, to the nonlinear control problem of swingup control. We also discuss hybrid and switching control, which is useful for switching between the swingup and balance controllers. We also discuss important practical issues such as friction modeling and friction compensation, quantization of sensor signals, and saturation. This monograph can be used as a supplement for courses in feedback control at the undergraduate level, courses in mechatronics, or courses in linear and nonlinear state space control at the graduate level. It can also be used as a laboratory manual and as a reference for research in nonlinear control.
EPUB | FB2 | MOBI | TXT | RTF
* Конвертация файла может нарушить форматирование оригинала. По-возможности скачивайте файл в оригинальном формате.
Популярные книги за неделю:
Система упражнений по развитию способностей человека (Практическое пособие)Автор: Петров Аркадий НаумовичКатегория: Путь к себе
Размер книги: 818 Kb
Сотворение мира (3-х томник)Автор: Петров Аркадий НаумовичКатегория: Путь к себе
Размер книги: 817 Kb
Только что пользователи скачали эти книги:
Адаптивная схема управления потоком для транспортного протокола в сетях с коммутацией пакетов(Автореферат)Автор: Алексеев И.В.Категория: Диссертации авторефераты
Размер книги: 787 Kb
The Books of Enoch: A Complete Volume Containing 1 Enoch (the Ethiopic Book of Enoch), 2 Enoch (the Slavonic Secrets of Enoch), and 3 Enoch (the Hebrew Book of Enoch)Автор: Joseph Lumpkin
Размер книги: 14.27 Mb
|
|
|