Sampled data dynamic surface control for inertia wheel pendulum

Mehdi, Niaz; Malik, Fahad Mumtaz; Bhatti, Aamir Iqbal; Qaiser, Nadeem

dc.contributor.author	Mehdi, Niaz
dc.contributor.author	Malik, Fahad Mumtaz
dc.contributor.author	Bhatti, Aamir Iqbal
dc.contributor.author	Qaiser, Nadeem
dc.date.accessioned	2019-11-20T07:44:24Z
dc.date.available	2019-11-20T07:44:24Z
dc.date.issued	2012-10-22
dc.identifier.isbn	978-1-4673-4886-7
dc.identifier.uri	http://142.54.178.187:9060/xmlui/handle/123456789/1567
dc.description.abstract	We present sampled-data version of dynamic surface control for a benchmark underactuated mechanical system in strict feedback form. Continuous time control law has been discretized in the first place and then applied to control inertia wheel pendulum. Performance comparison has also been made between sampled data and continuous time versions. Simulation results illustrate that sampled data version recovers the performance of continuous time dynamic surface control for reasonably small sampling time.	en_US
dc.language.iso	en_US	en_US
dc.publisher	IEEE 2012 International Conference of Robotics and Artificial Intelligence	en_US
dc.subject	Engineering and Technology	en_US
dc.subject	Underactuated mechanical system	en_US
dc.subject	Sampled data control	en_US
dc.subject	Dynamic surface control	en_US
dc.subject	Inertia wheel pendulum	en_US
dc.title	Sampled data dynamic surface control for inertia wheel pendulum	en_US
dc.type	Proceedings	en_US