Page 302 -
P. 302
5.2 Feedback-Linearization Controllers 287
Table 5.2.4: Dynamic One-DOF Controller: Design 2
EXAMPLE 5.2–4: Dynamic One DOF Design
Use the same linear controller as that of Example 5.2.3, but assume that the
quadratic velocity terms in N are known so that 2 =0; that is
The results are shown in Figure 5.2.7 for the parameter k=150. They do not
look remarkably different from those of Example 5.2.3 in Figure 5.2.6. This
Copyright © 2004 by Marcel Dekker, Inc.
