• DocumentCode
    1292296
  • 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
  • Volume
    146
  • Issue
    6
  • fYear
    1999
  • fDate
    11/1/1999 12:00:00 AM
  • Firstpage
    567
  • Lastpage
    577
  • 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;
  • fLanguage
    English
  • Journal_Title
    Control Theory and Applications, IEE Proceedings -
  • Publisher
    iet
  • ISSN
    1350-2379
  • Type

    jour

  • DOI
    10.1049/ip-cta:19990588
  • Filename
    818083
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1292296