Robust computer control of an inverted pendulum

Author

Medrano-Cersa, G.A.

Author_Institution

Dept. of Electron. & Electr. Eng., Salford Univ.

Volume

19

Issue

3

fYear

1999

fDate

6/1/1999 12:00:00 AM

Firstpage

58

Lastpage

67

Abstract

This article illustrates the design of a robust digital controller using a blend of state space and frequency response methods. The specific application is that of balancing an inverted pendulum on a moving cart while controlling the cart position. This work investigates issues regarding robust stability and disturbance attenuation. Furthermore, the effectiveness of a simple nonlinear compensation scheme for counteracting the Coulomb friction is studied. The controller design is based on an approximate discrete-time linear model of the pendulum-cart system. Design calculations and analysis are carried out using Matlab/toolboxes and M-files developed by the author

Keywords

compensation; digital control; discrete time systems; dynamics; frequency response; linear systems; pendulums; robust control; state-space methods; Coulomb friction; digital control; discrete-time systems; dynamics; frequency response; inverted pendulum; linear systems; moving cart; nonlinear compensation; robust control; state space; Application software; Attenuation; Digital control; Frequency response; Friction; Linear approximation; Mathematical model; Robust control; Robust stability; State-space methods;

fLanguage

English

Journal_Title

Control Systems, IEEE

Publisher

ieee

ISSN

1066-033X

Type

jour

DOI

10.1109/37.768541

Filename

768541