MAS 2008 Proceeding

Controller design using combination of symbolic and numeric calculations in maple

Authors:   Pavol Bisták, Peter ?apák


The paper shows how it is possible to combine symbolic computations with numerical methods in order to achieve the controller action under specified conditions. The corresponding calculations are based on the nonlinear state space model resulted from dynamics decomposition. The controlled system is represented by the triple integrator with input saturation. The design combines the well known time optimal control with the linear pole assignment control, i.e. the control consist of n phases similar to the time optimal control, however the transients between these phases are ?smooth? and the dynamics of the transients is given by the closed loop poles. For modeling and simulations the computer algebra system Maple has been used.

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