A Class of Discrete-Time Stabilizing Controllers for Flexible Mechanical Systems

[+] Author and Article Information
K. Shamsa, H. Flashner

Department of Mechanical Engineering, University of Southern California, Los Angeles, CA 90089-1453

J. Dyn. Sys., Meas., Control 112(1), 55-61 (Mar 01, 1990) (7 pages) doi:10.1115/1.2894139 History: Received September 27, 1987; Revised December 10, 1989; Online March 17, 2008


A class of multivariable discrete-time control laws for flexible mechanical systems with colocated actuators and sensors is characterized. Stability of the proposed control law is derived in terms of energy dissipation properties of the system and is independent of physical parameters of the plant. The control law is applicable to linear, as well as nonlinear mechanical systems with any number of vibrational modes. It is therefore unaffected by modal truncation. The validity of the proposed approach is demonstrated by two examples.

Copyright © 1990 by The American Society of Mechanical Engineers
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