Generation of Limit Cyles

Controllers are typically designed to stabilize given operating points. However, the closed-loop system can exhibit oscillations due to unmodeled discontinuties such as backlash or dry friction. As an alternative we suggest the design of a controller such that the closed-loop control systems contains a stable limit cycle with prescribed amplitude, frequency and rate of convergence. Our approach has been verified on a test bench for an inverse pendulum on a cart.

Limit Cylces