Controller Design for an Inverted Pendulum based on Approximate Linearization
نویسندگان
چکیده
In this paper, taking the inverted pendulum as an example of nonlinear systems which are not exactly linearizable, we give a controller design method for the system based on the approximate linearization. In the method, we try to suppress the e ect of the higher order residual terms in choosing the new coordinate for the approximate linearization. Furthermore, we show its e ectiveness by experiments.
منابع مشابه
MINIMUM TIME SWING UP AND STABILIZATION OF ROTARY INVERTED PENDULUM USING PULSE STEP CONTROL
This paper proposes an approach for the minimum time swing upof a rotary inverted pendulum. Our rotary inverted pendulum is supported bya pivot arm. The pivot arm rotates in a horizontal plane by means of a servomotor. The opposite end of the arm is instrumented with a joint whose axisis along the radial direction of the motor. A pendulum is suspended at thejoint. The task is to design a contro...
متن کاملNonlinear Control Design for Linear Inverted Pendulum System using Exact Feedback Linearization
Exact feedback linearization converts any system into appropriate form such that the controller design becomes convenient for the system. In this technique, control algorithm is developed based on exact feedback linearization through energy control. This approach is applicable to under actuated in which single control input, acceleration of cart, controlled the angle and position of cart. This ...
متن کاملNonlinear Design for Inverted Pendulum using Backstepping Control Technique
Backstepping control technique is a Lyapunov based nonlinear robust technique which is applicable to only strict feedback system. Backstepping technique has been applied on linear inverted pendulum which is under actuated system. Inverted pendulum is swung from its pendant position and stabilized at its upright position. Swing up is achieved by nonlinear backstepping controller but the linear i...
متن کاملFriction Compensation for Dynamic and Static Models Using Nonlinear Adaptive Optimal Technique
Friction is a nonlinear phenomenon which has destructive effects on performance of control systems. To obviate these effects, friction compensation is an effectual solution. In this paper, an adaptive technique is proposed in order to eliminate limit cycles as one of the undesired behaviors due to presence of friction in control systems which happen frequently. The proposed approach works for n...
متن کاملControl of Non-Linear Inverted Pendulum using Fuzzy Logic Controller
This paper proposes an intelligent control approach towards Inverted Pendulum in mechanical engineering. Inverted Pendulum is a well known topic in process control and offering a diverse range of research in the area of the mechanical and control engineering. Fuzzy controller is an intelligent controller based on the model of fuzzy logic i.e. it does not require accurate mathematical modelling ...
متن کامل