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Some results on feedback stabilization of a one-link flexible arm

Abstract : The aim of this report is to exhibit a class of stabilizing feedback laws for a structurally undamped one-link flexible arm with control applied at one extremity. A finite-dimensional model of the arm, corresponding to a discretization in space, is first considered. The arm is then modeled by a classical partial differential equation, no finite dimensional approximation being made in the control analysis. In both cases, stability of the closed-loop system is proven, using a Lyapunov method and applying Lasalle's principle. The pratical significance of the proposed results is commented upon and illustrated by simulation experiments.
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https://hal.inria.fr/inria-00076905
Contributor : Rapport de Recherche Inria <>
Submitted on : Monday, May 29, 2006 - 11:18:24 AM
Last modification on : Monday, October 12, 2020 - 10:30:28 AM
Long-term archiving on: : Monday, April 5, 2010 - 9:21:46 PM

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  • HAL Id : inria-00076905, version 1

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Sylvie Icart, Juliette Leblond, Claude Samson. Some results on feedback stabilization of a one-link flexible arm. [Research Report] RR-1682, INRIA. 1992. ⟨inria-00076905⟩

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