An underwater glider is a buoyancy-driven, fixedwing underwater vehicle that redistributes internal mass to control attitude. We examine the dynamics of a glider restricted to the vertical plane and derive a feedback law that stabilizes steady glide paths. The control law is physically motivated and with the appropriate choice of output can be interpreted as providing input-output feedback line...

Abstract: This paper studies on the design of a nonlinear controller for the looper-tension system in hot strip finishing mills using a static state feedback linearization and an ILQ(Inverse Linear Quadratic) Optimal Control. Nonlinear dynamic equations of the looper-tension system are analytically linearized by a static feedback linearization algorithm with a compensator. A nonlinear controlle...

A new method of the feedback linearization procedure of MIMO systems is developed. Some control variables are “sacrificed” and made equal to a linear combination of new states. Subsequently the feedback linearization procedure is carried out using the remaining control variables. The formal Lemma is stated and proved. A class of non-linear systems is defined, for which the derived procedure wor...

This paper deals with the design of a control strategy that combines a nonlinear observer and a partial feedback linearization controller to stabilize the periodic orbits of an under-actuated three link biped robot. We show first that passive dynamics (non-actuated coordinates) can be linearized and decoupled from the rest of the system by applying a nonlinear feedback. Then, the proposed obser...

Backstepping is a nonlinear control design tool for underactuated systems. Backstepping is used for output stabilization or tracking using feedback similarly to feedback linearization. In feedback linearization the stabilizing controller is designed entirely for a virtual input which is then mapped back to the physical input by completely canceling nonlinearities. In backstepping the system is ...

this study proposes a combination of a fuzzy sliding mode controller (fsmc) with integral-proportion-derivative switching surface based superconducting magnetic energy storage (smes) and pid tuned by a multi-objective optimization algorithm to solve the load frequency control in power systems. the goal of design is to improve the dynamic response of power systems after load demand changes. in t...