Boundary control of a rotating shear beam with observer feedback
CitationDOĞAN, M., MORGÜL, Ö. (2012). Boundary control of a rotating shear beam with observer feedback. Journal of Vibration and Control, 18 (14), pp. 2257-2265. http://dx.doi.org/10.1177/1077546311429145.
We consider a flexible structure modeled as a shear beam which is free to rotate on the horizontal plane. We first model the system by using partial differential equations and we propose boundary feedback laws to achieve set-point regulation of the rotation angle as well as to suppress elastic vibrations. The main advantage of the proposed design, which consists of a decoupling controller together with an observer, is that it is easy to implement. We utilize a coordinate transformation based on an invertible integral transformation by using Volterra form and backstepping techniques. We show that with the proposed controller, the control objectives are satisfied.