Stabilization of the cart-inverted-pendulum system using trivial state-feedback to output-feedback control conversion
نویسندگان
چکیده
A new linear observer-free output-feedback controller with five adjustable parameters is proposed to stabilize the cart-inverted-pendulum system (CIP) at unstable equilibrium point. The architecture deduced from a trivial conversion of state-feedback that obtained using two-step method. First, based on set cart change variables, slightly modified developed. Then, through judicious combination step reference input internal model and convenient open-loop state estimator above controller. local stability output-based control conducted signature formulas method get simplified conditions. partial single parameter tuning optimal global are for adjusting gains maximize efficiency-based objective function. Numerical simulations first reveal simplicity design method, where assumed be known. an designed equivalent in terms performance efficiency best five-parameter two PID
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iii ACKNOWLEDGEMENTS First and foremost I owe my deepest gratitude to my advisor and mentor, Prof. David G. Taylor for mentoring me and supporting me throughout my thesis for the last one year. This thesis would not have been possible unless it was for his patience, motivation, enthusiasm and immense knowledge of the subject matter. Besides my advisor, I would like to thank Prof. Yorai Wardi fo...
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ژورنال
عنوان ژورنال: Automatika
سال: 2022
ISSN: ['0005-1144', '1848-3380']
DOI: https://doi.org/10.1080/00051144.2022.2059950