Perturbation Compensator based Robust Tracking Control and State Estimation of Mechanical Systems

• Main Authors: Kwon, SangJoo (Author, http://id.loc.gov/vocabulary/relators/aut), Chung, Wan Kyun (http://id.loc.gov/vocabulary/relators/aut)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg : Imprint: Springer, 2004.
• Edition: 1st ed. 2004.
• Series: Lecture Notes in Control and Information Sciences, 307
• Subjects: Control engineering.; Robotics.; Mechatronics.; Vibration.; Dynamical systems.; Dynamics.; System theory.; Control, Robotics, Mechatronics.; Vibration, Dynamical Systems, Control.; Systems Theory, Control.

This monograph investigates a practical way to achieve robust motion control and state estimation (Kalman filtering) of mechanical systems, which is a promising approach in terms of the perturbation compensator. The book presents novel approaches for design and analysis of perturbation observers as...

Table of Contents:

• Introduction
• Robust Tracking Control with Hierarchical Perturbation Compensation
• Robust Performance of the Multiloop Perturbation Compensator
• Discrete-Time Design and Analysis of Perturbation Observer
• Combined Observer Design for Robust State Estimation and Kalman Filtering
• Control of Coarse/Fine Dual-Stage Positioning System
• Concluding Remarks.