대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1996년도 하계학술대회 논문집 B
- /
- Pages.930-932
- /
- 1996
고이득 제어를 이용한 비선형 궤환 선형화 제어기개발.
Design of the High Gain Nonlinear Feedback Linearizing Control.
- Lee, Ju-Suk (Seoul National University Department of Electrical Engineering) ;
- Joo, Sung-Jun (Seoul National University Department of Electrical Engineering) ;
- Seo, Jin-Heon (Seoul National University Department of Electrical Engineering)
- 발행 : 1996.07.22
초록
Some results and a nonlinear controller are proposed for feedback linearizable SISO systems with unknown constant parameters. It is shown that the systems which satisfy the proposed conditions can be transformed into a controllable linear subsystem with unknown parameter and it can be stabilized using the high gain nonlinear feedback linearizing controller. As an example for the proposed theorem, we introduce the single link robot with joint flexibility which is an well known example.