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In this paper we present a new approach to determine trajectories for changing the state of the double pendulum on a cart from one equilibrium to another and show the experimental realization on a test bench. The control of these transitions is accomplished by a two-degrees-of-freedom control scheme. For the design of the feedforward and feedback control of… (More)
In a globalized world, technical systems are becoming ubiquitous , and are increasingly interacting directly with the physical world. The design space of such systems also, therefore, includes the basic laws of physics. Examples of such systems are worldwide production systems, public transport systems and the Internet as a commercial platform (including… (More)
Besides the well established event triggered bus protocols (such as, for instance, the CAN bus protocol) recently the demand for time triggered communication systems has intensified. In order to accommodate demand, an extension of the CAN bus protocol to TTCAN (Time Triggered CAN) has been specified in ISO 11898-4. In the meantime also a silicon… (More)
Machines are omnipresent. They produce, they transport. Machines facilitate work and assist. The increasing penetration of mechanical engineering by information technology enables considerable benefits. This circumstance is expressed by the term mechatronics, which means the close interaction of mechanics, electronics, control engineering and software… (More)
This peer-reviewed article can be downloaded, printed and distributed freely for any purposes (see copyright notice below). permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly credited. Abstract The development of autonomous vehicle or self-driving car integrates with the wireless communication… (More)
Diese Arbeit ist im "Sonderforschungsbereich 614 – Selbstoptimierende Systeme des Maschinenbaus" der Universität Paderborn entstanden und wurde auf seine Veranlas-sung unter Verwendung der von ihm von der Deutschen Forschungsgemeinschaft zur Verfügung gestellten Mittel veröffentlicht.