Robust Stabilization of Non-minimum Phase System with Periodic Control
نویسندگان
چکیده
In the present work, implementation of continuous-time high frequency periodic controller is done for stabilization of non-minimum phase system having both right half plane (RHP) pole and zero. This work considers nonminimum phase cart-inverted pendulum system as a test bench. The robustness property of the periodic controller is compared with that of a linear quadratic regulator (LQR) and sliding mode control (SMC). The periodic controller is designed and shown to stabilize the cart-inverted pendulum system even in presence of plant parameter variations, external disturbances and measurement noise. Further, it is revealed that the periodic controller can cope up with the disturbance caused by rail inclination which is a common problem met by mobile robots while moving on an inclined plane. Keywords— Cart-inverted pendulum, Non-minimum phase system, Periodic Controller, Robustness, Stabilization
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