This preview shows pages 1–5. Sign up to view the full content.
This preview has intentionally blurred sections. Sign up to view the full version.
View Full DocumentThis preview has intentionally blurred sections. Sign up to view the full version.
View Full Document
Unformatted text preview: Nonlinear Systems and Control Lecture # 35 Tracking Feedback Linearization & Sliding Mode Control – p. 1/1 1 SISO relativedegree ρ system: ˙ x = f ( x ) + g ( x ) u, y = h ( x ) f (0) = 0 , h (0) = 0 L g L i − 1 f h ( x ) = 0 , for 1 ≤ i ≤ ρ − 1 , L g L ρ − 1 f h ( x ) negationslash = 0 Normal form: ˙ η = f ( η, ξ ) ˙ ξ i = ξ i +1 , 1 ≤ i ≤ ρ − 1 ˙ ξ ρ = L ρ f h ( x ) + L g L ρ − 1 f h ( x ) u y = ξ 1 f (0 , 0) = 0 – p. 2/1 1 Reference signal r ( t ) r ( t ) and its derivatives up to r ( ρ ) ( t ) are bounded for all t ≥ and the ρ th derivative r ( ρ ) ( t ) is a piecewise continuous function of t ; the signals r ,. . . , r ( ρ ) are available online. Goal: lim t →∞ [ y ( t ) − r ( t )] = 0 R = r . . . r ( ρ − 1) , e = ξ 1 − r . . . ξ ρ − r ( ρ − 1) = ξ −R – p. 3/1 1 ˙ η = f ( η,e + R ) ˙ e = A c e + B c bracketleftBig L ρ f h ( x ) + L g L ρ − 1 f h ( x ) u −...
View
Full
Document
This note was uploaded on 07/25/2008 for the course ME 859 taught by Professor Choi during the Spring '08 term at Michigan State University.
 Spring '08
 CHOI

Click to edit the document details