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Control of Swing-up and Stabilization for an Inverted Pendulum
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| Author(s) |
Yang R., Chai L., Zhao X. |
| Abstract |
Modern control theory is now developed to provide an authentic design techniques for synthesizing practical control systems. In particular, the lack of appropriated friction nonlinear model for the pendulum makes interesting the task of design a robust controller. In this paper, both design methods ( LQR/LTR and HY ) are illustrated by simulation with a inverted pendulum case. The differences of performance between these two methods are compared and investigated according to the simulation results. To find a good trade-off between the multi-objective specification ( mixed H2 and HY ), a optimal multi-objective controller based on the LMI theory is designed via the simulation using MATLAB LMI toolbox. The good controller's parameters coming from the simulation are used into the practical experiment and its performance is verified. A strategy of energy control for swinging up a pendulum from its stable downward position to its upright position is illustrated at the end of this paper. The experimental result shows the whole successful procedure of swinging up a pendulum and balancing it at its steady-state upright position. |
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| Filename: | EPE-PEMC2000 - 330 - Yang.pdf |
| Filesize: | 2.279 MB |
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| Type |
Members Only |
| Date |
Last modified 2004-04-28 by System |
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