A control procedure that uses Time Delay Control to achieve input/output linearization of a class of nonlinear systems is presented. The control system is characterized by a simple algorithm and enhanced robustness properties in comparison with current control algorithms. The paper first reviews the fundamentals of input/output linearization. The use of Time Delay Control is then shown to result in an exact linear system for sufficiently small delay time. Modified controllers for systems with a low-pass filter are also investigated. Simulation results show that the algorithm works well with measurement noise. The controller is also tested on a single-link flexible arm to show the effectiveness of the simple algorithm in the control of complicated systems.
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March 1992
Research Papers
Input/Output Linearization Using Time Delay Control
K. Youcef-Toumi,
K. Youcef-Toumi
Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139
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S.-T. Wu
S.-T. Wu
Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139
Search for other works by this author on:
K. Youcef-Toumi
Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139
S.-T. Wu
Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139
J. Dyn. Sys., Meas., Control. Mar 1992, 114(1): 10-19 (10 pages)
Published Online: March 1, 1992
Article history
Received:
September 19, 1990
Revised:
May 22, 1991
Online:
March 17, 2008
Connected Content
A companion article has been published:
Vibration Damping Through Liquid Sloshing, Part 2: Experimental Results
Citation
Youcef-Toumi, K., and Wu, S. (March 1, 1992). "Input/Output Linearization Using Time Delay Control." ASME. J. Dyn. Sys., Meas., Control. March 1992; 114(1): 10–19. https://doi.org/10.1115/1.2896491
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