This book deals with the application of modern control theory to some important underactuated mechanical systems, from the inverted pendulum to the helicopter model. It will help readers gain experience in the modelling of mechanical systems and familiarize with new control methods for non-linear systems.

Inhalt

Introduction.- Theoretical preliminaries.- The cart-pole system.- A convey-crane system.- The pendubot system.- The furuta pendulum.- The reaction wheel pendulum.- The planar flexible-joint robot.- The PPR planar manipulator.- The ball and beam acting on the ball.- The hovercraft model.- The PVTOL aircraft.- Helicopter on a platform.- Lagrangian helicpoter model.- Newtonian helicopter model.- Bibliography.- Index.