Robust disturbance attenuation in Hamiltonian systems via direct digital control

Yaprak Yalcin, Leyla Goren-Sumer

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

The discrete-time robust disturbance attenuation problem for n-dof mechanical system with energy function uncertainty is considered. First, it is shown that the robust control problem of the n-dof mechanical systems can be reduced to the disturbance attenuation problem when a specific type of control rule is used. Then, the solution of robust disturbance attenuation problem via direct-discrete time design is given as a sufficient condition. Furthermore, a new method is presented using Quadratic Approximation Lemma to construct a discrete gradient of a general energy function. The proposed direct discrete-time design method is used to solve the robust disturbance attenuation problem for the double pendulum system. The simulation results are given for the discrete-gradient obtained with the method presented here.

Original languageEnglish
Title of host publication2009 European Control Conference, ECC 2009
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2277-2282
Number of pages6
ISBN (Electronic)9783952417393
DOIs
Publication statusPublished - 26 Mar 2014
Event2009 10th European Control Conference, ECC 2009 - Budapest, Hungary
Duration: 23 Aug 200926 Aug 2009

Publication series

Name2009 European Control Conference, ECC 2009

Conference

Conference2009 10th European Control Conference, ECC 2009
Country/TerritoryHungary
CityBudapest
Period23/08/0926/08/09

Bibliographical note

Publisher Copyright:
© 2009 EUCA.

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