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- W2765627062 abstract "In this chapter we present the design and implementation of a robust passivity-based controller for a rolling-balancing system known as the disk-on-disk. The control design aims to asymptotically stabilize the desired equilibrium of the disk-on-disk by shaping the energy function of the system and injecting damping. This first design is further augmented by the addition of a nonlinear PID controller to compensate for disturbances. We incorporate in the nonlinear PID the possibility of stabilizing either a set-point of angular positions of the disks or their angular velocities while keeping the balance of the system. Although the underactuation feature of the system and the disturbances hamper the control design, we show that the passivity-based framework offers the necessary tools to prove the desired stability properties of the close loop. Finally, we evaluate the practical applicability of the control design by implementing the controller on a real hardware for the disk-on-disk system and asses the performance of the control system." @default.
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- W2765627062 date "2017-11-03" @default.
- W2765627062 modified "2023-10-07" @default.
- W2765627062 title "Passivity-Based Control Design and Experiments for a Rolling-Balancing System" @default.
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- W2765627062 doi "https://doi.org/10.1007/978-3-319-55011-4_12" @default.
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