Journal
APPLIED MATHEMATICAL MODELLING
Volume 34, Issue 12, Pages 3791-3804Publisher
ELSEVIER SCIENCE INC
DOI: 10.1016/j.apm.2010.03.020
Keywords
Fuzzy logic control; Almost disturbance decoupling; Feedback linearizable; Composite Lyapunov approach; Uniform ultimate bounded; AMIRA's ball and beam system
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This paper first studies the tracking and almost disturbance decoupling problem of nonlinear AMIRA's ball and beam system based on the feedback linearization approach and fuzzy logic control. The main contribution of this study is to construct a controller, under appropriate conditions, such that the resulting closed-loop system is valid for any initial condition and bounded tracking signal with the following characteristics: input-to-state stability with respect to disturbance inputs and almost disturbance decoupling, i.e., the influence of disturbances on the 1,2 norm of the output tracking error can be arbitrarily attenuated by changing some adjustable parameters. One example, which cannot be solved by the first paper on the almost disturbance decoupling problem, is proposed in this paper to exploit the fact that the tracking and the almost disturbance decoupling performances are easily achieved by our proposed approach. The simulation results show that our proposed approach has achieved the almost disturbance decoupling performance perfectly. (C) 2010 Elsevier Inc. All rights reserved.
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