Design and analysis of controllers for a double inverted pendulum
A physical control problem is studied with the H ∞ and the μ methodology. The issues of modeling, uncertainty modeling, performance specification, controller design, and laboratory implementation are discussed. The laboratory experiment is a double inverted pendulum placed on a cart. The limitations...
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| Veröffentlicht in: | ISA transactions 2005, Vol.44 (1), p.145-163 |
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| container_title | ISA transactions |
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| creator | Niemann, Henrik Poulsen, Jesper Kildegaard |
| description | A physical control problem is studied with the
H
∞ and the μ methodology. The issues of modeling, uncertainty modeling, performance specification, controller design, and laboratory implementation are discussed. The laboratory experiment is a double inverted pendulum placed on a cart. The limitations in the system with respect to performance are the limitation in the control signal and the limitation of the movement of the cart. It is shown how these performance limitations will effect the design of
H
∞ and μ controllers for the system. |
| doi_str_mv | 10.1016/S0019-0578(07)60051-2 |
| format | Article |
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H
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H
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H
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H
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H
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H
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| fulltext | fulltext |
| identifier | ISSN: 0019-0578 |
| ispartof | ISA transactions, 2005, Vol.44 (1), p.145-163 |
| issn | 0019-0578 1879-2022 |
| language | eng |
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| source | MEDLINE; Elsevier ScienceDirect Journals Complete |
| subjects | Algorithms Applied sciences Computer science control theory systems Computer-Aided Design Control system analysis Control system synthesis Control theory. Systems Controller implementation Equipment Design Equipment Failure Analysis Exact sciences and technology Feedback - physiology Gait - physiology H∞ controller design Laboratory experiments Locomotion - physiology Modeling Modelling and identification Models, Biological Motion Robotics - instrumentation Robotics - methods Simulation μ synthesis |
| title | Design and analysis of controllers for a double inverted pendulum |
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