Control of Weakly Damped Finite and Infinite Dimensional Euler-Lagrange Systems
Abstract
This contribution presents the control of a certain kind of mechanicalsystems based on energy considerations. The plants under investigation areunderactuated lumped and distributed parameter systems, which consist of twomasses and an elastic element. After a brief introduction of the used mathematicalobjects, the proposed controller design method is applied to a simple introductoryexample - the Mass-Spring-Mass system. After that, an infnite dimensional system- the Mass-Beam-Mass system - is under consideration. In this case, the elasticelement is given by a Bernoulli-Euler beam. Finally some simulation resultsdemonstrate the improvements gained by the introduced control structure.
