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  • This paper deals with a mechatronic model called Robotic sea lion, which has been built for educational purposes at Department of Cybernetics in Pilsen. The model serves as a demonstration tool for evaluation of various control system design methods. At first a matematical model of the system is derived, next the control laws are designed. The important limitations for the control system performance due to the limited bandwidth of the sensors and actuators and problems coupled with unstable system dynamics are discussed. These limitations call for an advanced techniques of robust control, therefore a H1 optimization was used to obtain suitable control algorithms.
  • This paper deals with a mechatronic model called Robotic sea lion, which has been built for educational purposes at Department of Cybernetics in Pilsen. The model serves as a demonstration tool for evaluation of various control system design methods. At first a matematical model of the system is derived, next the control laws are designed. The important limitations for the control system performance due to the limited bandwidth of the sensors and actuators and problems coupled with unstable system dynamics are discussed. These limitations call for an advanced techniques of robust control, therefore a H1 optimization was used to obtain suitable control algorithms. (en)
Title
  • Mechatronic models for education - Robotic sea lion
  • Mechatronic models for education - Robotic sea lion (en)
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  • Mechatronic models for education - Robotic sea lion
  • Mechatronic models for education - Robotic sea lion (en)
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  • RIV/49777513:23520/11:43898221!RIV12-MSM-23520___
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  • P(FR-TI1/394), S
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  • 1
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  • 211317
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  • RIV/49777513:23520/11:43898221
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  • mechatronic models, robust control, inverted pendulum, unstable systems control, H-in nity optimization (en)
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  • IT - Italská republika
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  • [7E9BA0F4C133]
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  • IFAC Proceedings Volumes (IFAC-PapersOnline)
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  • 18
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  • Schlegel, Miloš
  • Goubej, Martin
  • Škarda, Radek
issn
  • 1474-6670
number of pages
http://bibframe.org/vocab/doi
  • 10.3182/20110828-6-IT-1002.01483
http://localhost/t...ganizacniJednotka
  • 23520
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