### Resumé

done in the whole state space. Since in many situations the process evolution is confined in a reduced domain, one solution consists in building an equivalent nonlinear model which exhibits flatness properties in order to use related control design tools. The inverted pendulum system is used to illustrate the procedure.

Originalsprog | Engelsk |
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Publikationsdato | 2000 |

Status | Udgivet - 2000 |

Begivenhed | IEE Int. Conf. on Systems Engineering (ICSE 2000) - Varighed: 24. aug. 2010 → … |

### Konference

Konference | IEE Int. Conf. on Systems Engineering (ICSE 2000) |
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Periode | 24/08/2010 → … |

### Fingeraftryk

### Citer dette

*Control design on the basis of approximate nonlinear models: the inverted pendulum example*. Afhandling præsenteret på

*IEE Int. Conf. on Systems Engineering (ICSE 2000)*, .

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*IEE Int. Conf. on Systems Engineering (ICSE 2000)*, 24/08/2010, .

**Control design on the basis of approximate nonlinear models: the inverted pendulum example.** / Jouffroy, Jerome; Lottin, Jacques.

*IEE Int. Conf. on Systems Engineering (ICSE 2000)*, .

Publikation: Konferencebidrag uden forlag/tidsskrift › Paper › Forskning › peer review

TY - CONF

T1 - Control design on the basis of approximate nonlinear models: the inverted pendulum example

AU - Jouffroy, Jerome

AU - Lottin, Jacques

PY - 2000

Y1 - 2000

N2 - The main interest of linear models is the wide panel of control structures that are available. This also motivated a large amount of work to extend these structures to nonlinear plants, either by local or exact linearization, or by introducing robustness properties. At the same time other works dealt with control of some classes of nonlinear systems. One of these families concerns flat systems for which it is possible to design reference trajectories that are admissible both for state variables and control input. However nonlinear plants may not exhibit such flatness properties since analysis isdone in the whole state space. Since in many situations the process evolution is confined in a reduced domain, one solution consists in building an equivalent nonlinear model which exhibits flatness properties in order to use related control design tools. The inverted pendulum system is used to illustrate the procedure.

AB - The main interest of linear models is the wide panel of control structures that are available. This also motivated a large amount of work to extend these structures to nonlinear plants, either by local or exact linearization, or by introducing robustness properties. At the same time other works dealt with control of some classes of nonlinear systems. One of these families concerns flat systems for which it is possible to design reference trajectories that are admissible both for state variables and control input. However nonlinear plants may not exhibit such flatness properties since analysis isdone in the whole state space. Since in many situations the process evolution is confined in a reduced domain, one solution consists in building an equivalent nonlinear model which exhibits flatness properties in order to use related control design tools. The inverted pendulum system is used to illustrate the procedure.

M3 - Paper

ER -

*IEE Int. Conf. on Systems Engineering (ICSE 2000)*, .