Abstract
Controller design methods based on flatness and passivity are well established. These methods are applied to PCHD systems such that flatness is used to achieve a high tracking performance and passivity ensures disturbance rejection and robustness. Since the error system, written in displacement coordinates, is not a PCHD system in general, we present conditions,which ensures this property. Therefore, one can apply methods from passivity control to stabilize the error dynamics.
| Original language | English |
|---|---|
| Pages (from-to) | 187-188 |
| Number of pages | 2 |
| Journal | PAMM - Proceedings in Applied Mathematics and Mechanics |
| Volume | 5 |
| Issue number | 1 |
| Publication status | Published - 2005 |
Fields of science
- 101028 Mathematical modelling
- 202 Electrical Engineering, Electronics, Information Engineering
- 202003 Automation
- 202017 Embedded systems
- 202027 Mechatronics
- 202034 Control engineering
- 203015 Mechatronics