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Optimal System Design

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Dynamics of Underactuated Multibody Systems

Part of the book series: Solid Mechanics and Its Applications ((SMIA,volume 205))

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Abstract

The analysis and discussions in the previous chapters show that a minimum phase system allows a much easier control design than a non-minimum phase system. For minimum phase systems feedback linearization is possible and the design of feedforward control is significantly simplified. However, the initial design of an underactuated multibody system might be non-minimum phase and requires the demanding computation of feedforward control by stable inversion. In this chapter, an optimization based structural and control design methodology is proposed in order to obtain minimum phase system designs. The proposed design methodology already considers structural design and control design concurrently in the early stage of the design process. The proposed integrated design approach is based on an optimization procedure for either, the system output, the structural design, or both.

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Authors and Affiliations

  1. Institute of Engineering and Computational Mechanics, University of Stuttgart, Pfaffenwaldring 9, 70563, Stuttgart, Germany

    Robert Seifried

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  1. Robert Seifried
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Correspondence to Robert Seifried .

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© 2014 Springer International Publishing Switzerland

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Seifried, R. (2014). Optimal System Design. In: Dynamics of Underactuated Multibody Systems. Solid Mechanics and Its Applications, vol 205. Springer, Cham. https://doi.org/10.1007/978-3-319-01228-5_7

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  • DOI: https://doi.org/10.1007/978-3-319-01228-5_7

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-01227-8

  • Online ISBN: 978-3-319-01228-5

  • eBook Packages: EngineeringEngineering (R0)

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