Other type of these systems are mechanical-electrical-electronic combinations, for example a two degree of freedom (DOF) robot arm or a mobile planar robot and among every degree of freedom on a robotic structure can be represented by a second order nonlinear system. In electrical systems there are examples such as the tunnel diode circuit, some electronic oscillators as the negative-resistance twin-tunnel-diode circuit and finally In mechanical systems the pendulum, the inverted pendulum, the translational oscillator with rotational actuator (TORA) and the mass-spring systems Moreover, several applications consider nonlinear second order systems there are various examples of this: Thus, analyses of stability properties of second order autonomous systems and their convergence are areas of interest on the control community. Such autonomous systems are often obtained when considering feedback control strategies, because the closed loop system might be rewritten in terms of the state system and perturbation terms, which are function of the state as well. Second order autonomous systems are key systems in the study of non linear systems because their solution trajectories can be represented by curves in the plane ( Khalil, 2002), which helps in the development of control strategies through the understanding of their dynamical behaviour.
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