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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Sobhani, Massoud Neisius, Bernhard Jayasuriya, Suhada Rumler, Ernhard Rabins, Michael J. |
| Copyright Year | 1992 |
| Description | Author affiliation: Department of Mechanical Engineering, Texas A&M University, College Station, TX 77843 (Sobhani, Massoud; Neisius, Bernhard; Jayasuriya, Suhada; Rumler, Ernhard; Rabins, Michael J.) |
| Abstract | A complete set of nonlinear differential equations of motion is derived for a beam and ball setup. The system obviously has unstable dynamics and may exhibit minimum phase (MP) or non-minimum phase (NMP) behavior depending on the ball radius. The system's linearized equations are contrasted with different levels of approximations that are often assumed. A transparent interpretation of the NMP behavior is also made in light of the physical setup. Also included is a frequency domain controller design for the NMP unstable case. In particular, a controller is synthesized for keeping the linear and angular position of the ball and the beam within given tolerances under the limited control effort of the actuator. |
| Starting Page | 450 |
| Ending Page | 456 |
| File Size | 559726 |
| Page Count | 7 |
| File Format | |
| ISBN | 0780302109 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1992-06-24 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | American Automatic Control Council(AACC) |
| Subject Keyword | Control system synthesis Frequency domain analysis Differential equations Structural beams Force control Transfer functions Hydraulic actuators Steel Control design Design methodology |
| Content Type | Text |
| Resource Type | Article |
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