A Robust Approach to Dynamic Feedback Linearization for a Steerable Nips Mechanism

Edgar I. Ergueta, Robert Seifried, Roberto Horowitz
2008 ASME 2008 Dynamic Systems and Control Conference, Parts A and B   unpublished
This paper presents two different control strategies for paper position control in printing devices. The first strategy is based on standard feedback linearization plus dynamic extension (dynamic feedback linearization). Even though this controller is very simple to design, we show that it is not able to handle actuator multiplicative uncertainties, and therefore, it fails when it is implemented on the experimental setup. The second strategy we present uses similar concepts, but it is more
more » ... t since feedback linearization is used only to linearize the kinematics of the system and internal loops are used to locally control the actuator's positions and velocities. In this paper, not only do we formally prove the robustness of the second control strategy but we also show its successful implementation.
doi:10.1115/dscc2008-2134 fatcat:3nhfjfvkgvef5g7embcfmpfyla