%A Y. Hafeez
%A S.S.A. Ali
%I Institute of Electrical and Electronics Engineers Inc.
%T Discrete-time H� control of a class of underactuated electromechanical systems
%R 10.1109/ICIAS.2016.7824111
%D 2017
%J International Conference on Intelligent and Advanced Systems, ICIAS 2016
%L scholars8912
%O cited By 0; Conference of 6th International Conference on Intelligent and Advanced Systems, ICIAS 2016 ; Conference Date: 15 August 2016 Through 17 August 2016; Conference Code:125970
%K Control theory; Discrete time control systems; Disturbance rejection; Equivalence classes; Linear systems; Robust control; Sampled data control systems; Stabilization; State feedback, Discrete time; Discrete-time model; Electromechanical systems; Equivalent model; Orientation control; Sampled data stabilization; Short duration pulse; State feedback control law, Continuous time systems
%X This paper focuses on the design and performance of sampled-data robust control of a class of continuous-time underactuated electromechanical systems. The control law is designed on the philosophy based on stabilization of discrete-time equivalent model of a continuous-time system which can be broadly classified into sampled-data stabilization of a class of underactuated linear systems with a time-varying actuation characteristics. The system can be actuated by a short duration pulse in a fixed interval of time. The system is discretized for complete actuation cycle to get an equivalent discrete-time model of the continuous-time system. The equivalent model is developed by considering a complete actuation cycle as a single discrete step. The continuous-time system is fully actuated in this interval and unactuated otherwise. The state feedback control law is designed on the basis of fully actuated, time invariant exact discrete-time equivalent model of the continuous-time system. The simulations show that proposed controller achieved the desired orientation control. © 2016 IEEE.