Nonlinear State Feedback Control Law Research Articles

Linearizing Control of a Class of Non-Linear Continuous Processes

Most of the continuous industrial processes working inside a large operating range can be modelled by non-linear state equations that are linear in control. A way for controlling those processes can be a closed loop linearization. It is shown that, when the solution exists, we get an explicit non-linear state feedback control law. The linearizability condition is demonstrated and it is shown that the control law may involve some singularities. Two practical applications on chemical and hydraulic pilot plants are presented.

Decoupling of a Two-Axis Robotic Manipulator Using Nonlinear State Feedback: A Case Study

A case study that illustrates the use of nonlinear state feed back to decouple the control of a two-axis polar-coordinate robotic manipulator is presented. One type of position cou pling and two types of velocity coupling are investigated. In each case, the application of decoupling compensation results in marked improvement in the performance of the robotic arm. The implementation difficulties associated with apply ing a nonlinear state-feedback control law to an inexpensive, indirect-drive robotic arm, using a microcomputer controller and low-resolution sensors, are examined.