An homotopy method for exact tracking of nonlinear nonminimum phase systems: the example of the spherical inverted pendulum

Authors:
Luca Consolini;Mario Tosques
Affiliations:
Dipartimento di Ingegneria dell'Informazione, Parma, Italy;Dipartimento di Ingegneria Civile, Parma, Italy
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

Citing 2
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Nonlinear Control Systems

Nonlinear Control Systems
Brief paper: Optimal preview-based stable-inversion for output tracking of nonminimum-phase linear systems

Automatica (Journal of IFAC)

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Abstract

This paper considers an "homotopy method" for solving the exact tracking problem for nonlinear affine non-minimum phase systems. The method is presented in a general setting and is applied to the special case of the spherical pendulum. This approach allows finding sufficient conditions for exact tracking for T-periodic curves and bounds on the internal dynamics.