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International Conference on Advanced Engineering  Theory and Applications

AETA 2017: AETA 2017 - Recent Advances in Electrical Engineering and Related Sciences: Theory and Application pp 3–14Cite as

Under-Actuated Systems: Nonlinear Control Showcase

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Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 465))

Abstract

Most of controllers for nonlinear systems are designed by using linearly approximated models and by applying linear control theory. In most of such cases, nonlinear control theory cannot improve control performance as long as we are controlling the systems in the vicinity of the equilibrium point. However, there are many under-actuated systems which are not stabilized with this linearization strategy: some sorts of singularity at the equilibrium point cause uncontrollability of the approximated linear model even though the system is controllable in nonlinear control theory. This note will present such nature of under-actuated systems and their control strategies.

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Author information

Authors and Affiliations

  1. Department of Systems and Control Engineering, Tokyo Institute of Technology, Tokyo, Japan

    Mitsuji Sampei

Authors
  1. Mitsuji Sampei
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Correspondence to Mitsuji Sampei .

Editor information

Editors and Affiliations

  1. Faculty of Electrical - Electronics Engineering, Ton Duc Thang University, Ho Chi Minh City, Vietnam

    Vo Hoang Duy

  2. International Cooperation, Research and Training Institute, Ton Duc Thang University, Ho Chi Minh City, Vietnam

    Tran Trong Dao

  3. Department of Computer Science, Faculty of Electrical Engineering and Computer Science, VŠB-TUO, Ostrava, Czech Republic

    Ivan Zelinka

  4. Department of Mechanical Design Engineering, Pukyong National University, Busan, Korea (Republic of)

    Sang Bong Kim

  5. Faculty of Electrical - Electronics Engineering, Ton Duc Thang University, Ho Chi Minh City, Vietnam

    Tran Thanh Phuong

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Sampei, M. (2018). Under-Actuated Systems: Nonlinear Control Showcase. In: Duy, V., Dao, T., Zelinka, I., Kim, S., Phuong, T. (eds) AETA 2017 - Recent Advances in Electrical Engineering and Related Sciences: Theory and Application. AETA 2017. Lecture Notes in Electrical Engineering, vol 465. Springer, Cham. https://doi.org/10.1007/978-3-319-69814-4_1

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  • DOI: https://doi.org/10.1007/978-3-319-69814-4_1

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-69813-7

  • Online ISBN: 978-3-319-69814-4

  • eBook Packages: EngineeringEngineering (R0)

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