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Engineering - Robotics | Analysis and Control of Nonlinear Systems - A Flatness-based Approach

Analysis and Control of Nonlinear Systems

A Flatness-based Approach

Levine, Jean

2009

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  • First thorough book on a hot topic in the field of control of nonlinear systems
  • At present, no equivalent book on the market

This is the first book on a hot topic in the field of control of nonlinear systems. It ranges from mathematical system theory to practical industrial control applications and addresses two fundamental questions in Systems and Control: how to plan the motion of a system and track the corresponding trajectory in presence of perturbations. It emphasizes on structural aspects and in particular on a class of systems called differentially flat.

Part 1 discusses the mathematical theory and part 2 outlines applications of this method in the fields of electric drives (DC motors and linear synchronous motors), magnetic bearings, automotive equipments, cranes, and automatic flight control systems.

The author offers web-based videos illustrating some dynamical aspects and case studies in simulation (Scilab and Matlab).

Content Level » Research

Keywords » Control systems - MATLAB - Tracking - control - control system - differential geometry - dynamical system - motion planning - nonlinear system - nonlinear systems - simulation - system - system theory - systems theory - trajectory tracking

Related subjects » Geometry & Topology - Robotics

Table of contents 

I THEORY.- to Differential Geometry.- to Dynamical Systems.- Controlled Systems, Controllability.- Jets of Infinite Order, Lie-Bäcklund’s Equivalence.- Differentially Flat Systems.- Flatness and Motion Planning.- Flatness and Tracking.- II APPLICATIONS.- DC Motor Starting Phase.- Displacements of a Linear Motor With Oscillating Masses.- Synchronization of a Pair of Independent Windshield Wipers.- Control of Magnetic Bearings.- Crane Control.- Automatic Flight Control Systems.

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