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1

Nonlinear control of a single axis servopneumatic test facility with redundant actuators.

Klier W., Hahn H.

Systems Science

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1999

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Vol. 25, nr 1

89-101

EN

In this paper nonlinear control algorithms of a single axis test facility with redundant actuators will be derived, based on exact linearization techniques. This controller provides apart from stabilization of the test facility dynamics additional desired overconstraint control of the redundant actuators. This latter task has been solved by suitably extending the system output of the single axis test facility and by including an orthogonality relation in the controller design. Computer simulations prove the functioning and validity of the control concept.

2

Nonlinear control of a servohydraulic actuator.

Hahn H., Gucker U.

Systems Science

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1999

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Vol. 25, nr 1

103-114

EN

In this paper, a nonlinear control algorithm of a servohydraulic actuator has been derived based on exact linearization techniques. To much this controller to the actuator, sophisticated process models have been derived (including leakage flows and model equations of the foundation) and model parameters have been estimated in laboratory experiments. The resulting process model equations provide a realistic theoretical model of the laboratory set-up. The nonlinear controllers provide an excellent transmission behaviour of the control loop.

3

Controllability of a class of nonlinear systems: a graph theoretic approach.

Sommer H.-J., Hahn H.

Systems Science

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1999

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Vol. 25, nr 1

49-56

EN

In a theorem of C.T. Lin, the relation between structural controllability of linear systems and the structure of associated linear graphs has been shown. In this paper, the theorem of C.T. Lin will be generalized to some classes of nonlinear sampled data systems.

4

Structural approximate controllability of linear systems: a pure graph theoretical approach. Part I: Linear systems associated to simple CACTI.

Hahn H., Sommer H.-J.

Systems Science

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1998

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Vol. 24, nr 1

5-31

EN

In a well known theorem of C. T. Lin the structural controllability of linear systems has been derived from special pattern (cacti) of associated graphs. This statement will be proved by pure graph theoretical arguments in this paper. The proof will be carried out by introducing three different types of cacti (simple cacti, chain bud cacti and general cacti) and two different order relations on the set of buds of the cacti, and by constructing special input control sequences for each of these systems. In Part I of this paper, the theorem will be proved for systems that are associated to simple cacti. In Part II of this paper, the theorem will be proved for systems associated to chain bud cacti or to general cacti. The theoretical results will be illustrated by two examples, including a simple cactus and general cactus. The results obtained provide a basis for deriving global controllability criteria of polynomial nonlinear sampled data systems based on nonlinear bundle graphs. These latter results will be published in a subsequent paper.

5

Structural approximate controllability of linear systems: a pure graph theoretical approach. Part II: Linear systems associated to chain bud cacti and the general cacti.

Sommer H.-J., Hahn H.

Systems Science

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1998

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Vol. 24, nr 2

5-46

EN

C.T. Lin has characterized the structural controllability of a linear system by a geometrical pattern (cacti) of the associated graph. In part I of this paper, this theorem has been proved by pure graph theoretical arguments for systems that are associated to simple cacti by introducing the concepts of cycle weight order of buds and of damping control sequences. In this part of the paper, the theorem will be proved for systems associated to chain bud cacti or to general cacti. This will be done by introducing a chain bud order relation on the set of buds of these cacti and by constructing two additional control sequences, a nullator control sequence and a mixed damping nullator control sequence. This procedure is illustrated by an example including a general cactus. The results obtained prove a basis for deriving global controllability criteria of a polynomial nonlinear sampled data systems based on nonlinear bundle graphs These later results will be published in a subsequent paper.