Pole Placement of Linear Time-Varying Discrete Systems and Its Application to Trajectory Tracking Control of Nonlinear Systems

摘要

In this paper, the trajectory tracking controller is designed for nonlinear systems, based on the linear time-varying approximate model around some desired trajectory. The idea is very simple and basic, but this technique has not been commonly used so far, because the approximate model becomes linear time-varying and design method of linear time-varying controller is not necessarily well-developed. The authors proposed the simple design method of the pole placement controller for linear time-varying discrete systems. To show the applicability of this technique to the trajectory tracking control problem of nonlinear systems, we apply this controller to actual 2-link robot manipulator and present the experimental results.