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On Sampled Data Regulation of Feedback Linearizable Systems using a Realizable Reconstruction Filter
Muwaida Liaquat,Mohammad Bilal Malik 제어·로봇·시스템학회 2013 International Journal of Control, Automation, and Vol.11 No.6
This paper deals with the classical problem of regulating a feedback linearizable system when only the samples of the output are available for measurement. The feedback linearization is done via an impulsive observer. The realizable reconstruction filter, which is a minimum order generalized hold device, connects the discrete controller with the continuous input of the system. The rest of the problem is similar to the classical regulator theory. An example of single link manipulator with flexible joints concludes the paper.