Title :
Discrete-time H∞ control of a triple inverted pendulum with single control input
Author :
Tsachouridis, V.A. ; Medrano-Cerda, G.A.
Author_Institution :
Dept. of Eng., Leicester Univ., UK
fDate :
11/1/1999 12:00:00 AM
Abstract :
A design of a robust computer control system for balancing and improving the steady-state performance of a triple inverted pendulum-cart system is considered. The controller is based on discrete-time H∞ theory and is implemented via a robust reduced order dynamic observer. An integrator is used to eliminate the effects of small constant sensor offsets and rail inclinations. Disturbance attenuation and relative stability characteristics are studied via frequency response analysis. Simulation and experimental results are reported
Keywords :
H∞ control; computerised control; discrete time systems; frequency response; observers; pendulums; reduced order systems; robust control; H∞ control; balancing; computerised control; discrete-time systems; disturbance attenuation; frequency response; integrator; inverted pendulum; reduced order observer; robust control; stability;
Journal_Title :
Control Theory and Applications, IEE Proceedings -
DOI :
10.1049/ip-cta:19990588
