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    Limitations of Nonlinear Controls For a Curved and Offset Beam and Ball

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    Au_umd_0117N_14308.pdf (2.360Mb)
    No. of downloads: 439

    Date
    2013
    Author
    Au, Brandon
    Advisor
    Levine, William
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    Abstract
    The problem of stabilizing the position of a ball on a straight beam is a common element of laboratory courses in control. Replacing the straight beam with a circular beam and moving the center of rotation off of the beam produces a harder control problem. This experiment was developed here at UMCP by Sheng, Renner, and Levine [1]. They designed and implemented a stabilizing controller based on a linearized model of the plant and an LQR optimal regulator. Here, the set of initial states that is stabilizable is explored. Also, nonlinear controls based on ideas from feedback linearization and backstepping are developed.
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    http://hdl.handle.net/1903/14308
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    • Electrical & Computer Engineering Theses and Dissertations
    • UMD Theses and Dissertations

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    DRUM is brought to you by the University of Maryland Libraries
    University of Maryland, College Park, MD 20742-7011 (301)314-1328.
    Please send us your comments.
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