Rediseño Paramétrico del Pendubot para Posicionamiento Vertical en Tiempo Mínimo

A parametric redesign methodology of nonlinear systems for minimum-time control without constraints on the state trajectory and bounded control is proposed. This methodology states the optimum redesign problem as a dynamic optimization one. This methodology simultaneously finds both the structural parameters of the system and the switching intervals of the control signal which minimize the required time to take the system from an initial state to a final one. Experimental results applying the minimum-time control methodology and the parametric redesign methodology to the Pendubot are shown.

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