Perturbations in Mechatronic, Robotic, and Energy Systems

Enables readers to understand estimation and attenuation of perturbations in mechatronic systems, energy systems, and robotic systems

Perturbations in Mechatronic, Robotic, and Energy Systems provides a detailed presentation of the estimation and attenuation of perturbations. Attenuation of perturbations is solved by using the following techniques: the geometric approach, the structure at infinity, the structure controller, the sine mapping function, the proportional derivative controller, and the sliding mode controller. Estimation of perturbations is solved by using the following techniques: the linear observer, the nonlinear observer, and the sliding mode observer. In most of the controllers and observers, stability is assured by using the Lyapunov technique.

The book provides coverage of mechatronic systems, including the mechanical system, the thermal system, the three phase electric circuit, the plotter, the suspension system, and the hydraulic system, energy systems, including the wind turbine, the electric vehicle, the gas turbine, the gasification system, and the electricity generator with magnets, and robotic systems, including the rotary inverted pendulum, the inverted-car pendulum, the furuta pendulum, the transelevator, and the articulated robotic arm.

Perturbations in Mechatronic, Robotic, and Energy Systems includes information on:

• A hybrid controller with observer for the estimation and rejection of perturbations based on the combination of the sliding mode technique and the output feedback strategy
• A sliding mode regulator for perturbation attenuation in the plant output and states
• An observer for the states and perturbations estimation in two renewable energy systems
• An estimator for the variables and perturbations in nonlinear plants
• A proportional derivative controller with inverse dead-zone for the control of pendulum systems

Perturbations in Mechatronic, Robotic, and Energy Systems is an excellent reference on the subject for researchers and graduate students in related fields.