Title :
Smooth bending and stretching of a triple inverted pendulum by H/sub /spl infin////spl mu/ control
Author :
Kamiya, K. ; Ogawa, A. ; Suzuki, K. ; Uchida, K.
Author_Institution :
Dept. of Electr. Eng. & Bioscience, Waseda Univ., Tokyo, Japan
Abstract :
This paper focuses on designing control laws to bend and stretch a triple inverted pendulum smoothly. It is difficult to realize bending and stretching with only one controller based on the linearized model at a specific equilibrium point. We propose the method that makes the range covered by one linear controller wider and realize the movement by one controller.
Keywords :
H/sup /spl infin// control; control system synthesis; nonlinear control systems; pendulums; /spl mu/-synthesis; H/sub /spl infin// control; constant scaling; control laws; linear controller; scheduling; smooth bending; triple inverted pendulum;
Conference_Titel :
SICE 2004 Annual Conference
Conference_Location :
Sapporo
Print_ISBN :
4-907764-22-7
