Abstract
A pulse width modulation (PWM) approach based on the discrete equivalent model of an under
actuated spinning body is proposed. The presented work is a sequel to the earlier work done by the
authors for the orientation control of the drill machine. The constraint is an actuating signal of fixed
amplitude with adjustable pulse width. A novel approach based on error minimization is developed.
The optimized values of pulse width and phase of the control input are estimated to generate the
actuating signal. The problems of local minima and non-causality were also addressed through
proposed technique. The simulations are included to compare proposed techniques with the earlier
developed techniques for similar systems. The performance is also shown under both nominal and
parameter variations.
Atif Ali, Muwahida Liaquat, Mohammad Bilal Malik. (2016) Control of Under Actuated System with Input Constraints, Pakistan Journal of Engineering and Applied Sciences, VOLUME 19, Issue 1.
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