Modeling, discretization and motion control of a flexible beam in the port-Hamiltonian framework

In this paper, we present an approach to solve the feedforward motion control problem for a flexible beam, modeled with linear Timoshenko beam theory. The originality lies in the fact that all design steps, from modeling, over discretization to feedforward control are executed within the port-Hamiltonian (PH) framework. To obtain a finite-dimensional PH model which is suitable for inversion-based feedforward control design, a geometric pseudo-spectral discretization is performed. The feedforward control is tested with a plant model implemented in standard FEM software. The results of this paper will be amended by feedback control to achieve highly dynamic motion control on a lab test rig which is currently under construction.     «

In this paper, we present an approach to solve the feedforward motion control problem for a flexible beam, modeled with linear Timoshenko beam theory. The originality lies in the fact that all design steps, from modeling, over discretization to feedforward control are executed within the port-Hamiltonian (PH) framework. To obtain a finite-dimensional PH model which is suitable for inversion-based feedforward control design, a geometric pseudo-spectral discretization is performed. The feedforward...     »