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Exact linearization by feedback of state dependent parameter models applied to a mechatronics demonstrator

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Abstract

The paper develops an exact linearization by feedback approach for State Dependent Parameter (SDP), Proportional-Integral-Plus (PIP) control. The method is demonstrated using a simple automated belt driven by a DC motor equipped with a single board Reconfigurable Input-Output (sbRIO-9631) card, within a Field Programmable Gate Array (FPGA), and with a real time processor for control. The demonstrator is first modelled using a discrete-time SDP model structure, in which the parameters are functionally dependent on measured system states. An exact linearization step returns a linear model with unity coefficients, which is subsequently used to design a PIP control algorithm based on linear system design strategies, including pole assignment and optimal linear quadratic design. Preliminary experimental results demonstrate that the new approach yields an acceptable control performance for the nonlinear system.