Читать книгу PID Passivity-Based Control of Nonlinear Systems with Applications - Romeo Ortega - Страница 4

1 Chapter 2Figure 2.1 Block diagram representation of the closed‐loop system of Proposi...

2 Chapter 3Figure 3.1 Feedback decomposition of the closed‐loop system.Figure 3.2 Compressor map: the curves are parameterized by , and grow when ...Figure 3.3 Convergence of the three states to the equilibrium point.Figure 3.4 Simulation response of the closed‐loop system with the PI control...

3 Chapter 4Figure 4.1 Schematic of the quadratic boost converter.Figure 4.2 Schematic diagram of the equivalent circuit of a VSR in frame....Figure 4.3 Wind energy system.Figure 4.4 Function .

4 Chapter 5Figure 5.1 Two‐tanks system.

5 Chapter 7Figure 7.1 Time histories of the (a) position of the cart and (b) angle of...Figure 7.2 Time histories of the (a) velocity of the cart and (b) angular ...Figure 7.3 Time histories of the (a) input force and (b) the nonlinear gai...Figure 7.4 Time histories of the (a) position of the cart and (b) angle of...Figure 7.5 Time histories of the (a) velocity of the cart and (b) angular ...Figure 7.6 Time histories of the (a) input force and (b) the nonlinear gai...Figure 7.7 Time histories of the (a) position of the cart and (b) angle of...Figure 7.8 Time histories of the (a) velocity of the cart and (b) angular ...Figure 7.9 Time histories of (a) the input force and (b) the nonlinear gai...Figure 7.10 Captures of a video animation of the cart‐pendulum on an incline...Figure 7.11 Single ultraflexible link with base excitation.Figure 7.12 Simulation results for .Figure 7.13 Simulation results for .Figure 7.14 Simulation results for .Figure 7.15 Inverted flexible pendulum.Figure 7.16 Comparison of simulation and experimental results for .

6 Chapter 8Figure 8.1 Graph of the state space showing two sheets of the invariant foli...Figure 8.2 (a, b) Angle of the arm and position of the hand , and (c, d) ...Figure 8.3 (a, b) States of the controller, (c, d) control torque on the arm...Figure 8.4 (a, b) Angle of the arm and position of the hand , and (c, d) ...Figure 8.5 (a, b) States of the controller, (c, d) control torque on the arm...Figure 8.6 Time histories of the Acrobot angles and with the IDA‐PBC plu...Figure 8.7 Time histories of the Acrobot angular velocities and with the...Figure 8.8 Time history of the matched disturbance , and the controller sta...Figure 8.9 Idealized scheme of the Disk‐on‐Disk system (a) and real setup (b...Figure 8.10 Time history of coordinate with the IDA‐PBC controller plus th...Figure 8.11 Time history of the coordinate with the IDA‐PBC controller plu...Figure 8.12 Time history of the matched disturbance , and the controller st...Figure 8.13 Time history of the control input and the disturbance with the s...

7 Appendix AFigure A.1 Standard feedback configuration.