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TECHNICAL BRIEFS

Controlling the Transition From Stable Resting to Tracking Control of an Unstable System

[+] Author and Article Information
Pai-Hsueh Yang

Nikon Research Corporation of America, 1399 Shoreway Road, Belmont, CA 94002 e-mail: phyang@nikonrca.com

David M. Auslander

Department of Mechanical Engineering, University of California, Berkeley, CA 94720 e-mail: dma@me.berkeley.edu

J. Dyn. Sys., Meas., Control 124(2), 303-307 (May 10, 2002) (5 pages) doi:10.1115/1.1468226 History: Received August 11, 1998; Online May 10, 2002
Copyright © 2002 by ASME
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References

Figures

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Schematic diagram of balance beam
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The change of system characteristics: (a) A stable and constrained system when resting on a hard stop (b) An open-loop unstable system when off its hard stop
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Fuzzy decision making for state transitions
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Control structure of balance beam system for stabilization and tracking
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Membership functions of position deviation x̃1
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State transition diagram of balance beam launching process
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Plots of position (x1), velocity (x2), water height (h), control (u), integral control (Intv), and process status (top to bottom) for the launching process control of balance beam

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