Paper ID sheet - Systems and Control at ULg
- TITLE: Feedback Control of Impact Dynamics:
the Bouncing Ball Revisited
- AUTHORS: R. Ronsse, R. Sepulchre
We study the design of a tracking controller for the popular bouncing ball model: the continuous-time actuation of a table is used to control the impacts of the table with a bouncing ball. The proposed control law uses the impact times as the sole feedback information. We show that the acceleration of the table at impact plays no role in the stability analysis but is an important parameter for the robustness of the feedback system to model uncertainty, in particular to the uncertainty on the coefficient of restitution.
- STATUS: To appear in the Proceedings of the 45th IEEE Conference on Decision and Control, December 2006.
- DATE OF ENTRY: September 2006.
- Paper: pdf
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