TY - JOUR
T1 - Linear control of Euler-Lagrange systems
AU - Alvarez-Ramirez, Jose
AU - Cervantes, Ilse
N1 - Funding Information:
One of us (I. Cervantes) acknowledges financial support from CONACyT.
PY - 2000/12/18
Y1 - 2000/12/18
N2 - In this Letter, we study linear control of Euler-Lagrange (EL) systems. We prove that there exists a linear proportional-integral-derivative control such that any state of the EL system can be stabilized for any compact set of initial conditions. Basically, we show that integral control is necessary to attain the control objective in the face of model uncertainties and nonlinearities. We discuss some implications of our results on the control of physical systems, e.g., control of human and animal motions.
AB - In this Letter, we study linear control of Euler-Lagrange (EL) systems. We prove that there exists a linear proportional-integral-derivative control such that any state of the EL system can be stabilized for any compact set of initial conditions. Basically, we show that integral control is necessary to attain the control objective in the face of model uncertainties and nonlinearities. We discuss some implications of our results on the control of physical systems, e.g., control of human and animal motions.
KW - Euler-Lagrange systems
KW - Linear control
KW - Nonlinear singularly perturbed systems
KW - Semiglobal stability
UR - http://www.scopus.com/inward/record.url?scp=0034684678&partnerID=8YFLogxK
U2 - 10.1016/S0375-9601(00)00769-6
DO - 10.1016/S0375-9601(00)00769-6
M3 - Artículo
SN - 0375-9601
VL - 278
SP - 77
EP - 87
JO - Physics Letters, Section A: General, Atomic and Solid State Physics
JF - Physics Letters, Section A: General, Atomic and Solid State Physics
IS - 1-2
ER -