@article{(Open Science Index):https://publications.waset.org/pdf/16008,
	  title     = {Optimal Controller with Backstepping and BELBIC for Single-Link Flexible Manipulator},
	  author    = {Ali Reza Sahab and  Amir Gholami Pastaki},
	  country	= {},
	  institution	= {},
	  abstract     = {In this paper, backstepping method (BM) is proposed for a single-link flexible mechanical manipulator. In each step of this method a positive value is obtained. Selections of the gain factor values are very important because controller will have different behavior for each different set of values. Improper selection of these gains can lead to instability of the system. In order to choose proper values for gains BELBIC method has been used in this work. Finally, to prove the efficiency of this method, the obtained results of proposed model are compared with robust controller one. Results show that the combination of backstepping and BELBIC that is presented here, can stabilized the system with higher speed, shorter settling time and lower overshoot in than robust controller.
},
	    journal   = {International Journal of Electrical and Computer Engineering},
	  volume    = {5},
	  number    = {7},
	  year      = {2011},
	  pages     = {791 - 795},
	  ee        = {https://publications.waset.org/pdf/16008},
	  url   	= {https://publications.waset.org/vol/55},
	  bibsource = {https://publications.waset.org/},
	  issn  	= {eISSN: 1307-6892},
	  publisher = {World Academy of Science, Engineering and Technology},
	  index 	= {Open Science Index 55, 2011},
	}