By Suguru Arimoto (auth.), Jean Lévine, Philippe Müllhaupt (eds.)

ISBN-10: 3642161340

ISBN-13: 9783642161346

ISBN-10: 3642161359

ISBN-13: 9783642161353

In the 60's, keep an eye on, signs and structures had a typical linear algebraic heritage and, in accordance with their evolution, their respective backgrounds have now dramatically differed. getting better this kind of universal heritage, particularly within the nonlinear context, is at present a completely open query. The position performed via actual versions, finite or endless dimensional, during this hypothetical convergence is commonly mentioned during this e-book. The dialogue doesn't in simple terms ensue on a theoretical foundation but additionally within the gentle of 2 vast sessions of functions, one of the so much energetic within the present industrially orientated researches: - electric and Mechatronical platforms; - Chemical techniques and structures showing in lifestyles Sciences. during this point of view, this e-book is a contribution to the enhancement of the discussion among theoretical laboratories and extra virtually orientated ones and industries. This booklet is a set of articles which have been provided through major foreign specialists at a sequence of 3 workshops of a Bernoulli application entitled “Advances within the thought of keep an eye on, signs and platforms, with actual Modeling” hosted by way of the Bernoulli Centre of EPFL through the first semester of 2009. It offers researchers, engineers and graduate scholars with an unparalleled number of issues and across the world said most reliable works and surveys.

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The basic idea is to introduce a virtual carriage, called proxy, which is controlled using sliding mode techniques, whereas the proxy is connected to the real carriage by a PID-type coupling force, see Fig. 2. The goal of proxy-based sliding mode is to achieve precise tracking during normal operation and smooth, overdamped recovery in case of large position errors, which leads to an inherent safety property. The sliding mode control law for the virtual carriage results from equation (13) with ϕs denoting the rocker angle of the proxy υa = ϕ¨ d + α1 · (ϕ˙ d − ϕ˙ s ) + Wϕ · tanh ϕ˙ d − ϕ˙ s + α1 (ϕd − ϕs ) .

Conf. on Robotics and Automation, Rome, Italy, pp. 4355–4360 (2007) Using Hamiltonians to Model Saturation in Space Vector Representations of AC Electrical Machines Duro Basic, Al Kassem Jebai, Fran¸cois Malrait, Philippe Martin, and Pierre Rouchon Abstract. An Hamiltonian formulation with complex fluxes and currents is proposed. This formulation is derived from a recent Lagrangian formulation with complex electrical quantities. The complexification process avoids the usual separation into real and imaginary parts and notably simplifies modeling issues.

Techn. 13(4), 550–558 (2005) 9. : Backstepping control of a high-speed linear axis driven by pneumatic muscles. In: Proc. of 17th IFAC World Congress, Seoul, Korea, pp. 7684–7689 (2008) 10. : Disturbance compensation strategies for a high-speed linear axis driven by pneumatic muscles. In: Proc. of ECC 2009, Budapest, Hungary, pp. 436–441 (2009) 11. : Sliding mode control of nonlinear mechanical vibrations. J. of Dyn. Systems, Meas. and Control 122(12), 674–678 (2000) 12. : Applied Nonlinear Control.

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Advances in the Theory of Control, Signals and Systems with Physical Modeling by Suguru Arimoto (auth.), Jean Lévine, Philippe Müllhaupt (eds.)


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