We describe a class of mechanical systems for which the “method of controlled Lagrangians” provides a family of control laws that stabilize an unstable (relative) equilibrium. The controlled Lagrangian approach involves making modifications to the Lagrangian for the uncontrolled system such that the Euler-Lagrange equations derived from the modified or “controlled” Lagrangian describe the close...

Mamdani and Takagi-Sugeno fuzzy controllers were prepared. The controllers were designed using Fuzzy Logic Toolbox. The membership functions and rules were used as design tools that give opportunity to model a control surface and controller properties. The control system of d.c. (direct current) motor drive with two feedback loops is considered. First loop is used for stabilization of armature ...

The global stabilization of the classical ball & beam has been approached in the literature through saturated control which impose restrictions on the reactivity of the closed loop. In this work a modified design for the classical ball & beam system is presented. The beam is driven by two actuators (see figure 1). In comparison to the classical system, this design offers an additional degree of...

Attitude control systems naturally evolve on nonlinear configurations, such as S and SO(3). The nontrivial topological properties of these configurations result in interesting and complicated nonlinear dynamics when studying the corresponding closed loop attitude control systems. In this paper, we review some global analysis and simulation techniques that allow us to describe the global nonline...

The stabilization of switched linear systems with constrained inputs (SLSCI) is considered. The authors design admissible linear state feedbacks and the switching rule which has a minimal dwell time (MDT) to stabilized the system. First, for each subsystem with constrained inputs, a stabilizing linear state feedback and an invariant set of the closed-loop system are simultaneously constructed, ...

A direct adaptive non-linear control framework for multivariable non-linear uncertain systems with exogenous bounded disturbances is developed. The adaptive non-linear controller addresses adaptive stabilization, disturbance rejection and adaptive tracking. The proposed framework is Lyapunov-based and guarantees partial asymptotic stability of the closed-loop system; that is, asymptotic stabili...

This paper describes an expanded system for a servo system design by using the Loop Shaping Design Procedure (LSDP). LSDP is one of the H design procedure. By conducting Loop Shaping with a compensator and robust stabilization to satisfy the index function, we get the feedback controller that makes the control system stable. In this paper, we propose an expanded system for a servo system design...

Adaptive controllers are used in systems where one or more parameters are unknown. Such controllers are designed to stabilize the system using an estimate for the unknown parameters that is adapted automatically as part of the stabilization. One drawback in adaptive control design is the possibility that the closed-loop limit system is not stable. The worst situation is the existence of a desta...

We describe a class of mechanical systems for which the “method of controlled Lagrangians” provides a family of control laws that stabilize an unstable (relative) equilibrium. The controlled Lagrangian approach involves making modifications to the Lagrangian for the uncontrolled system such that the Euler-Lagrange equations derived from the modified or “controlled” Lagrangian describe the close...

The flight dynamics of the Yamaha RMAX unmanned helicopter has been investigated, and mapped into a six degrees of freedom mathematical model. The model has been obtained by a combined black-box system identification technique and a classic model-based parameter identification approach. In particular, the closed-loop behaviour of the built-in attitude control system has been studied, to support...