Metric criteria of disturbance decoupling for mechanical control systems (Q1406381)
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scientific article; zbMATH DE number 1974826
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Metric criteria of disturbance decoupling for mechanical control systems |
scientific article; zbMATH DE number 1974826 |
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Metric criteria of disturbance decoupling for mechanical control systems (English)
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4 September 2003
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The paper deals with small perturbations of the controlled system \(M\ddot q + L\dot q+Pq = N_1w + N_2u,\;z = Q_1q + R_1u,\;y = Q_2q + R_2w\), where \( q\in X\), \( X\) is the \(n\)-dimensional configuration space, \( z\), \(y\), \(w\) and \(u\) are the output, measurement, perturbation and control vectors. Presented are asymptotic decoupling conditions for perturbations of this system [see \textit{S. Weiland} and \textit{J. C. Willems}, IEEE Trans. Autom. Control 34, 277-286 (1989; Zbl 0674.93014)].
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controllable mechanical system
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asymptotic decoupling of perturbations
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