Gast
#754247
Ich habe in einem Paper folgendes "The pendulum moves as an inverted pendulum in a plane perpendicular to the rotating arm. Essentially the control of this system is difficult because this system has two degrees of freedom and only one control input. Also this system is a non-minimum–phase system. A nonminimum- phase system is a system whose internal or zero dynamics are unstable [2]. Such systems restrict application of nonlinear controller design techniques, such as feedback linearization and sliding mode controller design" Speziell dieser Satz A nonminimum- phase system is a system whose internal or zero dynamics are unstable. was jemand was die Interne Dynamik und Nulldynamik hier bedeutet? Ich würde es so deuten, dass die Eigendynamik (kein u(t) bzw u(t)=0) instabil ist. Irgendeine Zustandsvariable wird mit der Zeit unbegrenzt. grüsse, Daniel