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Journal of applied research and technology
versión On-line ISSN 2448-6736versión impresa ISSN 1665-6423
J. appl. res. technol vol.12 no.3 Ciudad de México jun. 2014
Nonlinear Recursive Design for the Underactuated IWP System
Weiping Guo and Diantong Liu*
School of Computer and Control Engineering, Yantai University Yantai City, People's Republic of China *diantong.liu@163.com
ABSTRACT
The nonlinear feedback cascade model of the underactuated IWP is obtained through a collocated partial feedback linearization and a global change of coordinates. A nonlinear controller is designed with the nonlinear recursive technology. The system stability is proved with Lyapunov theory. The simulation results show the system is globally asymptotically stable to the origin.
Keywords: Underactuated mechanical system, IWP, recursive design, nonlinear control.
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Acknowledgment
This work is supported by a Project of Shandong Province Higher Educational Science and Technology Program (No.J13LN25) and the National Natural Science Foundation of China (61175086).
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