A non-ideally excited pendulum controlled by SDRE technique

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• 作者：Angelo Marcelo Tusset ; Átila Madureira Bueno…
• 关键词：Nonlinear control ; Non ; ideal systems ; SDRE ; Hysteresis ; Sommerfeld effect
• 刊名：Journal of the Brazilian Society of Mechanical Sciences and Engineering
• 出版年：2016
• 出版时间：December 2016
• 年：2016
• 卷：38
• 期：8
• 页码：2459-2472
• 全文大小：2,940 KB
• 刊物主题：Mechanical Engineering;
• 出版者：Springer Berlin Heidelberg
• ISSN：1806-3691
• 卷排序：38

文摘

In this work, the perturbation theory is applied to the analysis of an electromechanical pendulum system. The frequency response behavior of the system is studied, and the existence of unstable poles is detected using the Routh–Hurwitz criterion. Numerical simulations show the existence of nonlinear behaviors such as hysteresis and the Sommerfeld effect in the resonance region. To damp the electromechanical system oscillations due to the nonlinear characteristics of the system the State Dependent Riccati Equation (SDRE) technique is used. The SDRE control strategy is applied considering two control signals, a feedback control that force the state trajectory of the system to a previously defined periodic orbit, and a nonlinear feedforward control that keeps the system motion synchronized to the periodic orbit. Additionally, the robustness of the control technique is tested for parametric uncertainties.