Nelinearni rizeni nelinearnich mechanickych systemu.

The thesis deals with stabilization and control of mechanical, mechantronic systems. Such dynamical systems usually contain several non-linearities which are essential. Linearization of the design model can not be often done, because the discussed systems usually perform large motions in state space. Along these trajectories unacceptable differences between linearized model and real system occur. Thus the non-linear control and stabilization techniques are investigated in this thesis. There are 2 approaches introduced. The 1st one is based on fuzzy logic theory. Until now fuzzy control has been designed ad-hoc. But the developed approach of fuzzy controller design is systematic. The algorithm is based on generalization of the MOPO method. The 2nd approach is based on optimal control theory. The design algorithm is developed for broad class of non-linear systems. Stability of this control design approach has been studied as well.The described methods are demonstrated on several case studies.Available from STL Prague, CZ / NTK - National Technical LibrarySIGLECZCzech Republi