| Texto completo | |
| Autor(es): |
Angelico, Bruno A.
;
Brugnolli, Mateus M.
;
das Neves, Gabriel P.
;
IEEE
Número total de Autores: 4
|
| Tipo de documento: | Artigo Científico |
| Fonte: | 2019 IEEE 58TH CONFERENCE ON DECISION AND CONTROL (CDC); v. N/A, p. 6-pg., 2019-01-01. |
| Resumo | |
The state-space model of a mechanical system usually has in its state vector the angular positions and velocities. For not using observers, the systems must have position and velocity sensors. Considering a digital control formulation, this work includes the derivative estimates in the system model, and a new representation is built considering the actual angular positions and their previous values. With this representation, a robust H-infinity static state feedback controller is designed, and the robustness of the full system can be guaranteed since the state estimator structure is included in the system model. A servomechanism and a homemade rotary inverted pendulum are considered as examples of practical applications. (AU) | |
| Processo FAPESP: | 17/22130-4 - Controle Robusto Aplicado |
| Beneficiário: | Bruno Augusto Angélico |
| Modalidade de apoio: | Auxílio à Pesquisa - Regular |