NONLINEAR OUTPUT FEEDBACK CONTROL OF A 5DOF AMB SYSTEM

Abstract A nonlinear dynamic output feedback control method for a 5-degree-of-freedom AMB is presented in this paper. This method is based on the system structure of AMB and a quadratic-like Lyapunov function. It is shown that backstepping and completing square techniques enable the construction of the voltage input by using measured output only. The control law guarantees the asymptotic stability of the closed loop system.

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