1 / 16

chattering INTRODUCTION

m. n. chattering INTRODUCTION. ■ Causes of Chattering. 1. Fast dynamics disregarded in an ideal model (unmodeled dynamics) 2. Switching frequency limitation. * Discrete time system (discretization chattering). Singular Perturbation Theory. << 1. Formally:. Preposition:

lainey
Download Presentation

chattering INTRODUCTION

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. m n chattering INTRODUCTION ■ Causes of Chattering 1. Fast dynamics disregarded in an ideal model (unmodeled dynamics) 2. Switching frequency limitation * Discrete time system (discretization chattering)

  2. Singular Perturbation Theory << 1 Formally: Preposition: If the equilibrium point of the system is asymptotically stable, then

  3. *

  4. Example where a and b are negative constant while c and d are positive constant values. Those equations govern a simple ‘inverted pendulum’ system when is angular displacement and the system is known to be unstable for .

  5. Unmodeled Dynamics Plant dynamics

  6. Stability Analysis

More Related