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On Regulator Stability in Control of Flexible Mechanical Systems
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2001 (English)In: Proceedings of the 32nd International Symposium on Robotics, 2001Conference paper, Published paper (Refereed)
Abstract [en]

Feed-back control of a flexible mechanical system is considered using a linear two-mass model. It is found that unstable controllers often occur when the performance requirements of the closed loop system are made too high. It is illustrated how potential windup problems caused by unstable controllers in combination with input saturations can be handled. A remaining consequence of the use of unstable controllers is that it puts stronger requirements on the accuracy of the model. This is illustrated using the Bode integral.

Place, publisher, year, edition, pages
2001.
Keyword [en]
Robotics, Flexible systems, Stability
National Category
Engineering and Technology Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-90818ISBN: 9788988366042 (print)OAI: oai:DiVA.org:liu-90818DiVA: diva2:616341
Conference
32nd International Symposium on Robotics, Seoul, South Korea, April, 2001
Available from: 2013-04-16 Created: 2013-04-07 Last updated: 2013-04-16

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Gunnarsson, SvanteÖstring, Måns

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