IPACS Electronic library

Is the Nonlinear Slewing Flexible Beam System Input-State Linearizable ?

A. Fenili
The main purpose of this paper is to verify the controllability and the involutivity of a set of governing equations of motion representing a nonlinear dynamic system. The objective of this verification is to check whether this set of equations is input-state linearizable and to prepare the system for the application of a nonlinear control technique named feedback linearization. This technique is not employed here. The system under investigation is the slewing flexible beam. The nonlinearity comes from the coupling between the beam deflection and the angular displacement of the actuator, a DC motor. It is shown that the studied system is controllable and involutive.
File: download
Copyright © 2003—2015 The Laboratory "Control of Complex Systems", IPME RAS