Model-Based Control of Nonlinear Systems presents model-based control techniques for nlinear, constrained systems. It covers constructive control design methods with an emphasis on modeling constrained systems, generating dynamic control models, and designing tracking control algorithms for the models. The book's interdisciplinary approach illustrates how system modeling and control theory are essential to control design projects. Organized according to the steps in a control design project, the text first discusses kinematic and dynamic modeling methods, including programmed constraints, Lagrange's equations, Boltzmann-Hamel equations, and generalized programmed motion equations. The next chapter describes basic control concepts and the use of nlinear control theory. After exploring stabilization strategies for nlinear systems, the author presents existing model-based tracking control algorithms and path-following strategies for nlinear systems. The final chapter develops a new model reference tracking strategy for programmed motion. Throughout the text, two examples of mechanical systems are used to illustrate the theory and simulation results. The first example is a unicycle model (nholomic system) and the second is a two-link planar manipulator model (holomic system). With a focus on constructive modeling and control methods, this book provides the tools and techniques to support the control design process.
Elzbieta Jarzebowska is an associate professor in the Institute of Aeronautics and Applied Mechanics at the Warsaw University of Technology. She is a member of ASME, IEEE, GAMM, IFToMM Technical Committee of Mechatronics, and International SAR. Her research and teaching interests encompass dynamics modeling and analysis of multibody systems, nonlinear control of multibody systems, and geometric control theory.