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The major purpose of this paper is to apply backstepping design scheme for the balancing control of some pendulum-like plants, which are a class of underactuated systems. The key control objective of the inverted-pendulum-type underactuated systems is not only to maintain the pendulum at the upright position, but also to force the actuator to return its starting point. In order to investigate and...
The paper develops a nonlinear backstepping design scheme for the balancing control of the Furuta pendulum which is an underactuated rotational inverted pendulum system. The control objective is not only to swing up the pendulum from downward position to upright, but also to drive the actuating arm to return to its starting point. The linearized Furuta pendulum system is investigated in advance in...
In this paper, a novel sensorless speed tracking control scheme is proposed for the design of permanent magnet synchronous motors (PMSM). This design strategy consists of nonlinear backstepping controllers and an angular velocity observer to achieve the purpose of speed following. The PMSM design, in general, requires angular velocity measurement to achieve control goals, but most PMSM systems do...
Following the development of a parameter convergence analysis procedure for output-feedback nonlinear systems (1995, 1998), the authors shift their attention to strict feedback nonlinear systems in this paper. They develop an analytic procedure which allows us, given a specific nonlinear system and a specific reference signal, to determine a priori whether or not the parameter estimates will converge...
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