Design of Feedback Controllers for Linear System with Applications to Control of a Double-inverted Pendulum
نویسنده
چکیده
The problem of stabilizing the double inverted pendulum has been solved using two different techniques which were the Pole Placement and Linear Quadratic Regulator techniques to design controls for the system. Copyright c ©2003 Yang’s Scientific Research Institute, LLC. All rights reserved.
منابع مشابه
Modeling and Controller Designing of Rotary Inverted Pendulum (RIP)-Comparison by Using Various Design Methods
_ Inverted pendulum control is one of the fundamental and interesting problems in the field of control theory. This paper describes the steps to design various controllers for a rotary motion inverted pendulum which is operated by a rotary servo plant, SRV 02 Series. Nonlinear model of the rotary inverted pendulum and linear model (Upright) in the neighborhood of an equilibrium state are descri...
متن کاملMINIMUM 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 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 کاملOptimal Control of Double Inverted Pendulum Using LQR Controller
Double Inverted Pendulum is a nonlinear system, unstable and fast reaction system. Double Inverted Pendulum is stable when its two pendulums allocated in vertically position and have no oscillation and movement and also inserting force should be zero. The aim of the paper is to design and performance analysis of the double inverted pendulum and simulation of Linear Quadratic Regulator (LQR) con...
متن کاملStabilizing Controller Design for Self Erecting Single Inverted Pendulum using Robust LQR
This paper describes the method for trajectory tracking and balancing the Self Erecting Single Inverted Pendulum (SESIP) using Linear Quadratic Regulator (LQR). A robust LQR controller for stabilizing the SESIP is proposed in this paper. The first part of the controller is a Position Velocity (PV) controller to swing up the pendulum from its hanging position by moving the pendulum left and righ...
متن کامل