Title :
Development of Inverted Pendulum System at KMITL
Author :
Pannil, Pittaya ; Klaeoyotha, Aroosh ; Ukakimaparn, Prapart ; Trisuwannawat, Thanit ; Tirasesth, Kitti ; Komine, Noriyuki
Author_Institution :
Dept. of Instrum., King Mongkut´´s Inst. of Technol. Ladkrabang, Bangkok
Abstract :
This paper presents the development of Inverted Pendulum System at King Mongkut´s Institute of Technology Ladkrabang (KMITL), including the designing, construction and control system design. The stabilizing of an unstable system in optimal control scheme via state-space approach is applied. The LQG controller design examples including the addition of the quadratic derivatives of state variables term in the usual standard performance index for linear quadratic Gaussian optimal control as an extra weighting function to play the role in swing suppressor is presented. Finally, a new inverted pendulum system nearly SEGWAY function is shown in this paper.
Keywords :
control system synthesis; linear quadratic Gaussian control; nonlinear control systems; pendulums; performance index; stability; state-space methods; King Mongkut Institute of Technology Ladkrabang; LQG controller design; control system design; inverted pendulum system; linear quadratic Gaussian optimal control; performance index; state-space approach; swing suppressor; unstable system stabilization; weighting function; Control systems; Design engineering; Educational robots; Instruments; Mobile robots; Motion control; Optimal control; Performance analysis; Pulse width modulation; Robot sensing systems;
Conference_Titel :
Communications and Information Technologies, 2008. ISCIT 2008. International Symposium on
Conference_Location :
Lao
Print_ISBN :
978-1-4244-2335-4
Electronic_ISBN :
978-1-4244-2336-1
DOI :
10.1109/ISCIT.2008.4700220
