Systems & Control: Foundations & Applications

Self-Oscillations in Dynamic Systems

A New Methodology via Two-Relay Controllers

Authors: Aguilar, L.T., Boiko, I., Fridman, L., Iriarte, R.

Free Preview
  • Describes a quick and efficient method of control synthesis for generating periodic motions   
  • Demonstrates applications to non-minimum-phase systems, including underactuated mechanisms   
  • ​Provides a rigorous theoretical background for the development of two-relay controllers supported by experimental results   
see more benefits

Buy this book

eBook $69.99
price for USA in USD (gross)
  • ISBN 978-3-319-23303-1
  • Digitally watermarked, DRM-free
  • Included format: EPUB, PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $109.99
price for USA in USD
  • ISBN 978-3-319-23302-4
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover $89.99
price for USA in USD
  • ISBN 978-3-319-36537-4
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
About this book

This monograph presents a simple and efficient two-relay control algorithm for generation of self-excited oscillations of a desired amplitude and frequency in dynamic systems. Developed by the authors, the two-relay controller consists of two relays switched by the feedback received from a linear or nonlinear system, and represents a new approach to the self-generation of periodic motions in underactuated mechanical systems.

The first part of the book explains the design procedures for two-relay control using three different methodologies – the describing-function method, Poincaré maps, and the locus-of-a perturbed-relay-system method – and concludes with stability analysis of designed periodic oscillations.

Two methods to ensure the robustness of two-relay control algorithms are explored in the second part, one based on the combination of the high-order sliding mode controller and backstepping, and the other on higher-order sliding-modes-based reconstruction of uncertainties and their compensation where Lyapunov-based stability analysis of tracking error is used. Finally, the third part illustrates applications of self-oscillation generation by a two-relay control with a Furuta pendulum, wheel pendulum, 3-DOF underactuated robot, 3-DOF laboratory helicopter, and fixed-phase electronic circuits.

Self-Oscillations in Dynamic Systems will appeal to engineers, researchers, and graduate students working on the tracking and self-generation of periodic motion of electromechanical systems, including non-minimum-phase systems. It will also be of interest to mathematicians working on analysis of periodic solutions.

Reviews

“The book contains ten chapters presented in three parts. … The intended audience for this book consists of mechanical and control scientists and engineers, as well as graduate and Ph.D. students interested in the theory of self-oscillation generation in underactuated dynamic systems.” (Clementina D. Mladenova, Mathematical Reviews, June, 2016)


Table of contents (10 chapters)

Table of contents (10 chapters)

Buy this book

eBook $69.99
price for USA in USD (gross)
  • ISBN 978-3-319-23303-1
  • Digitally watermarked, DRM-free
  • Included format: EPUB, PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $109.99
price for USA in USD
  • ISBN 978-3-319-23302-4
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover $89.99
price for USA in USD
  • ISBN 978-3-319-36537-4
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Loading...

Recommended for you

Loading...

Bibliographic Information

Bibliographic Information
Book Title
Self-Oscillations in Dynamic Systems
Book Subtitle
A New Methodology via Two-Relay Controllers
Authors
Series Title
Systems & Control: Foundations & Applications
Copyright
2015
Publisher
Birkhäuser Basel
Copyright Holder
Springer International Publishing Switzerland
eBook ISBN
978-3-319-23303-1
DOI
10.1007/978-3-319-23303-1
Hardcover ISBN
978-3-319-23302-4
Softcover ISBN
978-3-319-36537-4
Series ISSN
2324-9749
Edition Number
1
Number of Pages
XIV, 158
Topics