Practical Implementation of a Hamiltonian-Based Controller for a 2-DOF Platform

Abstract

This paper introduces a practical implementation of a nonlinear controller obtained from the new design technique called hamiltonian-based control. The Hamilton formulation of mechanical systems is used for linearization and tracking in multivariable nonlinear systems. The method modifies the system energy function and its hamiltonian formulation. The open-loop and closed-loop Hamilton equations are made equal and hence a linearizing control law is obtained. Based on this principle, the system energy is transformed to have a desired shape and follow desired objectives. The resulting controller has been tested on a real platform.