Tracking Control for Port-Hamiltonian Systems using Feedforward and Feedback Control and a State Observer

Description

This contribution is about the combination of a feedforward and feedback controller and a reduced state observer in order to stabilize the trajectories of a nonlinear plant. Port-Hamiltonian systems provide some special mathematical properties and have turned out beneficial for the stability analysis of nonlinear control systems. The combination of a feedforward and feedback controller allows us to achieve good tracking and the rejection of disturbances and parameter variations. In addition the extension of the nonlinear control scheme with a state observer allows a reduction of the number of measured quantities. This approach will be shown for the example BALL ON THE WHEEL.

Period	07 Jul 2008
Event title	17th World Congress IFAC, Seoul, Korea, 2008
Event type	Conference
Location	Korea, Republic ofShow on map