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This paper presents a new state feedback adaptive controller for the ball and beam system. The proposed controller is compared to the adaptive backstepping controller. First, the controller equations are obtained from the system linear model around the equilibrium point. Next, controller performances are evaluated in simulation using the system linear and the nonlinear models. The simulation results...
In this paper, an observer-based robust adaptive fuzzy sliding mode controller (RAFSMC) for an unknown nonlinear dynamical system with dead-zone input is presented. First, the fuzzy models are used to estimate the unknown function of the nonlinear dynamical system. Next, an observer is employed to estimate the tracking error. By the strictly-positive-real (SPR) Lyapunov stability theorem, it is shown...
A nonaffine discrete-time system represented by the nonlinear autoregressive moving average with eXogenous input (NARMAX) representation with unknown nonlinear system dynamics is considered. An equivalent affinelike representation in terms of the tracking error dynamics is first obtained from the original nonaffine nonlinear discrete-time system so that reinforcement-learning-based near-optimal neural...
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