By Warren E. Dixon
Recent developments in Lyapunov-based layout and research strategies have functions to a wide category of engineering structures, together with mechanical, electric, robot, aerospace, and underactuated structures. This booklet offers a realistic but rigorous improvement of nonlinear, Lyapunov-based instruments and their use within the answer of control-theoretic difficulties. wealthy in motivating examples and new layout concepts, the textual content balances theoretical foundations and real-world implementation. positive factors contain: * keep watch over designs for a vast category of engineering structures * Presentation of adaptive and studying regulate tools for doubtful nonlinear structures * Experimental testbed descriptions and effects that advisor the reader towards thoughts for extra learn * improvement of valuable mathematical heritage in every one bankruptcy; extra mathematical necessities contained in appendices meant for readers who've a few wisdom of undergraduate platforms idea, the booklet contains a wide variety of functions making it appropriate for an intensive viewers. Graduate scholars and researchers on top of things structures, robotics, and utilized arithmetic, in addition to expert engineers will delight in the work's mix of theoretical underpinnings and present and rising engineering applications.
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Extra info for Nonlinear Control of Engineering Systems: A Lyapunov-Based Approach
Diagram of the rotating unbalanced mass. 1). A control torque is applied to rotate the disk while a pair of perpendicular control forces are applied to regulate planar vibration. As typically done for various mechanical systems, Lagrange's method can be used to develop the dynamic equations. 2) £=T-PE. hat. ry does not. er of mass. 2 Autobalancing Systems 25 position of the disk. 4) where (3 E lR represents the initial angle subtended by L with the positive x axis. 5) u = [ Fx where Fx (t), Fy (t) E lR denote the perpendicular and planar control force inputs, and T z (t) E lR denotes the torque applied to the disk.
Y. Zheng, River Edge, NJ: World Scientific, 1993.  J. J. , 1988.  P. C. Hughes, Spacecraft Attitude Dynamics, New York, NY: John Wiley, 1986.  H. K. Khalil, Nonlinear Systems, Upper Saddle River, NJ: PrenticeHall, 1996.  P. Kokotovic, "The Joy of Feedback: Nonlinear and Adaptive," IEEE Control Systems Magazine, Vol. 12, June 1992, pp. 7-17.  M. A. Lyapunov, "Probleme general de la stabilite du mouvement," Ann. Pac. Sci. Toulouse, Vol. 9, 1907, pp. 203-474. (Translation of the original paper published in 1892 in Comm.
5 of Appendix B. 59} can be adjusted through the selection of the various control parameters. 2). 3 for a close-up view of the universal joint and horseshoe-shaped electromagnetic assembly). The universal joint is used to ensure uninhibited planar disk vibrations. The horseshoe-shaped electromagnetic assembly is used to generate the vibration damping forces. 86 [m] below the LED and are offset from each other by 90 0 • The data provided by the camera is sampled at 2 [kHz] and undergoes several stages of hardware and software decoding before the data is available as deflection in meters.