The H∞ Control for an Inverted-Double Pendulum System Consisting of Elastic Links Connected in Series

A stabilizing control technique for an inverted-double pendulum system consisting of two elastic links connected in series is developed, using a reduced-order model considering only the first vibration mode of the upper elastic beam, and applying an H∞ controller design method for a mixed sensitivit...

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Veröffentlicht in:	JSME International Journal Series C Mechanical Systems, Machine Elements and Manufacturing Machine Elements and Manufacturing, 2005, Vol.48(3), pp.342-350
Hauptverfasser:	KAMIMOTO, Kazuaki, KAWABE, Hisashi, YOSHIDA, Kazunobu
Format:	Artikel
Sprache:	eng
Schlagworte:	Distributed-Parameter Modeling Double Elastic Links H∞ Controller Inverted-Double Pendulum Mixed Sensitivity Problem Multiplicative Perturbation Reduced-Order Model Settling Function
Online-Zugang:	Volltext
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