Inducing oscillations in an Inertia wheel pendulum via Two-relays controller: theory and experiments
2009 (English)In: American control conference, 2009. ACC 09, Piscataway, NJ: IEEE, Institute of Electrical and Electronics Engineers , 2009, 65-70 p.Conference paper (Refereed)
A tool for generating a self-excited oscillations for an inertia wheel pendulum by means of a variable structure controller is proposed. The original system is transformed into the normal form for exact linearization. The design procedure, based on Describing Function (DF) method, allows for finding the explicit expressions of the two-relays controller gain parameters in terms of the desired frequency and amplitude. Necessary condition for orbital asymptotic stability of the output of the exactly linearized system is derived. Performance issues of the system with self-excited oscillations are validated with experiments.
Place, publisher, year, edition, pages
Piscataway, NJ: IEEE, Institute of Electrical and Electronics Engineers , 2009. 65-70 p.
, Proceedings / American Control Conference ; sponsored by the American Automatic Control Council, ISSN 0743-1619
IdentifiersURN: urn:nbn:se:umu:diva-37694DOI: 10.1109/ACC.2009.5159827ISBN: 978-1-4244-4523-3OAI: oai:DiVA.org:umu-37694DiVA: diva2:369750
2009 American Control Conference -- ACC2009, St. Louis, Missouri, USA, June 10 - 12, 2009
American Control Conference 2009, St Louis, MO, JUN 10-12, 20092010-11-112010-11-112010-12-15Bibliographically approved