摘要：AbstractThe paper presents input-state feedback linearization for a nonlinear, linear DC machine haulage trolley. The nonlinear haulage trolley model is based on a friction model as a function of dynamic slip. The novelty in our study in addition to finding the conditions for input-state linearization is the dynamic slip model based friction modeling. The key condition for input-state linearization is found to be that the friction coefficient must not be constant. A negative feedback control based on pole placement is designed for the linearized trolley for practical demonstration of concept.
关键词：Keywordsinput-state feedback linearizationlinear DC machinehaulage trolleydynamic slip
