Abstract
AbstractThis paper considers the tracking controller design for a mechatronic handling system. The presented approach is based on Port‐Hamiltonian systems and it achieves good tracking as well as good disturbance rejection based on a polynomial approach. A PBC controller stabilizes the trajectory and the feedforward part has to fulfill the given limitations and the time optimality. This approach avoids the solution of a boundary value problem and a real‐time integration of the internal dynamics. (© 2011 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)
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