A Robust Control Law for a Nonlinear Altitude-Azimuth Telescopic System

摘要

A modeling and Robust Control Strategy is presented for the pointing mechanism of a typical Altitude-Azimuth telescope. The nonlinear control problem is solved in two stages. In the first, feedback linearization is used to obtain a linear system, with possible uncertainty present owing to lack of exact cancelation in the feedback linearization stage. With these uncertainties, a Robust Control law for this linear system is developed, guarantying stable and robust convergence to any desired altitude-azimuth value for pointing, from any initial altitude-azimuth value. Results obtained through simulation are shown as means of validating the proposal.