Robustness Analysis of a Novel Adaptive Control based on Geometric Approach

Abstract

In this paper the robustness of a novel adaptive nonlinear control developed at Budapest Tech is investigated by the use of a 4th order Single Input - Single Output (SISO) Classical Mechanical paradigm, the Ball-Beam system. It is shown that the parameters can easily be set "experimentally" by the use of simple simulations. The control properties can simply be improved until the control loses its stability.