Systematic design of instrumentation architecture for control of complex systems

Abstract

The selection and placement of sensors and actuators is an important step in the design of complex controlled systems such as flexible robots and space structures. Essentially all systematic methods proposed in the literature for this design step are only valid for linear systems. To overcome this limitation, this paper proposes a new approach based on the theory of hyperstability. The method is suitable for use with conventional as well as intelligent and non-linear control concepts. Its application is illustrated in space robotics example