- Title
- Energy shaping of mechanical systems via PID control and extension to constant speed tracking
- Creator
- Romero, Jose Guadalupe; Ortega, Romeo; Donaire, Alejandro
- Relation
- IEEE Transactions on Automatic Control Vol. 61, Issue 11, p. 3551-3556
- Publisher Link
- http://dx.doi.org/10.1109/TAC.2016.2521725
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- journal article
- Date
- 2016
- Description
- In a recent contribution, it was shown that a class of mechanical systems, which contains many practical examples, can be stabilized via energy shaping without solving partial differential equations. The proposed controller consists of two terms, a partial linearizing state-feedback and a linear PID loop around two new passive outputs. In this brief note we prove that the first, admittedly non-robust, step can be obviated leaving only the linear PID. A second contribution of the note is to propose a slight modification to the controller to go beyond regulation tasks - being able to follow ramp references in the actuated coordinates.
- Subject
- tracking; mechanical systems; nonlinear systems; stabilisation
- Identifier
- http://hdl.handle.net/1959.13/1325657
- Identifier
- uon:25324
- Identifier
- ISSN:0018-9286
- Language
- eng
- Reviewed
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