Low-Pass Filter Property of an Input-Dimensional Output Feedback Passification Controller for Rotary Inverted Pendulum

Low-Pass Filter Property of an Input-Dimensional Output Feedback Passification Controller for Rotary Inverted Pendulum

A rotary inverted pendulum is stabilized by a single first order dynamic output feedback system. Numerical simulations and experimental results show that the proposed control law has low-pass filter property as well as it can successfully replace the velocity measurements for LQR control law.

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Veröffentlicht in:IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences Communications and Computer Sciences, 2009/08/01, Vol.E92.A(8), pp.2133-2136
Hauptverfasser: SON, Young Ik, JO, Nam Hoon, SHIM, Hyungbo, JEONG, Goo-Jong
Format: Artikel
Sprache:eng
Schlagworte:
Computer simulation
Dynamical systems
Dynamics
Electronics
Law
low-order controller
low-pass filter
Mathematical models
Output feedback
output feedback passification
passivity
Pendulums
rotary inverted pendulum
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Beschreibung
Zusammenfassung:A rotary inverted pendulum is stabilized by a single first order dynamic output feedback system. Numerical simulations and experimental results show that the proposed control law has low-pass filter property as well as it can successfully replace the velocity measurements for LQR control law.
ISSN:0916-8508
1745-1337
1745-1337
DOI:10.1587/transfun.E92.A.2133