A NOVEL PASSIVITY BASED CONTROL WITHOUT CONVENTIONAL CROSS-FEEDBACK

摘要

This paper discusses a passivity based control without conventional cross-feedback which is one of the nonlinearity canceling. The obtained controllers have NO canceling terms of the gyroscopic effect. First we discuss the modeling and clarify some important properties of the flywheel. Second, we discuss some PID (PID-type) controllers from the viewpoint of passivity. Finally we give some simulation and experimental results.