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RESEARCH PAPERS

Application of Nonlinear Quadratic Stochastic Control to a Position Servomechanism

[+] Author and Article Information
J. J. Beaman, C. H. Lin

Department of Mechanical Engineering, The University of Texas at Austin, Austin, Texas 78712-1063

J. Dyn. Sys., Meas., Control 112(4), 675-679 (Dec 01, 1990) (5 pages) doi:10.1115/1.2896194 History: Received August 12, 1988; Revised November 01, 1989; Online March 17, 2008

Abstract

Nonlinear Quadratic Stochastic control is applied to a position servomechanism. A method for estimating the maximum sampling time of a digital implementation of the technique is given. Additionally, a technique for improving on Gaussian statistics is shown. Non-Gaussian statistics are especially useful for the precise control of servomechanisms with granular nonlinearities such as coulomb friction and backlash.

Copyright © 1990 by The American Society of Mechanical Engineers
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