TY - GEN
T1 - Linear robust Generalized Proportional Integral Control of a ball and beam system for trajectory tracking tasks
AU - Ramirez-Neria, M.
AU - Sira-Ramirez, H.
AU - Garrido-Moctezuma, R.
AU - Luviano-Juarez, A.
N1 - Publisher Copyright:
© 2016 American Automatic Control Council (AACC).
PY - 2016/7/28
Y1 - 2016/7/28
N2 - In this article, the ball and beam trajectory tracking problem is tackled using a robust Generalized Proportional Integral (GPI) Controller. The controller is developed on the basis of the tangent linearized system model around the equilibrium point. The approximate linearized system is differentially flat, and hence, controllable. Flatness reveals that the resulting linearized system has an interesting cascade property which allows the simplification of the controller design. Experimental results are included to show the effectiveness of the controller in trajectory tracking and disturbance rejection control.
AB - In this article, the ball and beam trajectory tracking problem is tackled using a robust Generalized Proportional Integral (GPI) Controller. The controller is developed on the basis of the tangent linearized system model around the equilibrium point. The approximate linearized system is differentially flat, and hence, controllable. Flatness reveals that the resulting linearized system has an interesting cascade property which allows the simplification of the controller design. Experimental results are included to show the effectiveness of the controller in trajectory tracking and disturbance rejection control.
UR - http://www.scopus.com/inward/record.url?scp=84992134104&partnerID=8YFLogxK
U2 - 10.1109/ACC.2016.7526099
DO - 10.1109/ACC.2016.7526099
M3 - Contribución a la conferencia
AN - SCOPUS:84992134104
T3 - Proceedings of the American Control Conference
SP - 4719
EP - 4724
BT - 2016 American Control Conference, ACC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 American Control Conference, ACC 2016
Y2 - 6 July 2016 through 8 July 2016
ER -