Nonlinear Tracking Control Algorithm for Dynamical Output Systems Manipulated by the Hardly Constrained Oscillatory Actuator

Figure 8

MMI control system performance in application to a three-modulus vibrational system, (a) nodal tracking error of the beam for harmonic trajectory tracking, (b) the nodal tracking error of the beam for piecewise rectangular trajectory tracking, (c) 0.2 sec time interval desired actuator output , command input , and actuator output for harmonic trajectory tracking, and (d) 0.2 sec time interval desired actuator output , command input , and actuator output for piecewise rectangular trajectory tracking.

(a)

(b)

(c)

(d)