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Nonlinear Optimal Control Design Considering a Class of System Constraints With Validation on a Magnetic Levitation System | IEEE Journals & Magazine | IEEE Xplore

Nonlinear Optimal Control Design Considering a Class of System Constraints With Validation on a Magnetic Levitation System


Abstract:

In this letter, based on the theory developed, a nonlinear optimal controller is designed via stable manifold theory making use of Lagrange multipliers to take into accou...Show More

Abstract:

In this letter, based on the theory developed, a nonlinear optimal controller is designed via stable manifold theory making use of Lagrange multipliers to take into account a class of system constraints. A feature of this method is that a discontinuous Hamiltonian system has to be solved. The existence and uniqueness of solutions of the Hamiltonian system are proven in this letter with a discussion on the stability of the designed controller. The effectiveness of the method is experimentally validated on a Quanser magnetic levitation system. The result shows that the designed nonlinear controller is able to handle the acceleration constraints with better
Published in: IEEE Control Systems Letters ( Volume: 1, Issue: 2, October 2017)
Page(s): 418 - 423
Date of Publication: 21 June 2017
Electronic ISSN: 2475-1456

References

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