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Control Of Swing-Up And Stabilization For An Inverted Pendulum
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| Author(s) |
Xiaodong Zhao, Li Chai, Rong Yang |
| Abstract |
Modern control theory is now developed to provide
an authentic design technique 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 and H ‡ ) are illustrated by simulation with an 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 specifications (mixed H2 and H ‡), an optimal
multi-objective controller based on the LMI theory is designed.
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: | A73429 |
| Filesize: | 300.8 KB |
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| Type |
Members Only |
| Date |
Last modified 2006-02-17 by System |
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