Title :
μ synthesis with regional pole assignment for a double inverted pendulum
Author :
Fu Caifen ; Liu Yuyan ; Tan Wen ; Zhang Jinfang
Author_Institution :
Key Lab. of Condition Monitoring & Control for Power Plant Equip., North China Electr. Power Univ., Beijing, China
Abstract :
Control of an inverted pendulum has been a benchmark example in demonstrating and motivating various controller design techniques. This paper makes a study of application of μ synthesis with regional pole assignment for stabilizing a double inverted pendulum system with some parametric uncertainties and designs state-feedback controller by solving a multi-objective controller synthesis problem. The researching results of this paper are applied to the inverted pendulum experiment equipment produced by Googol Technology LTD. Simulation results show that the controller has favorable performance in robustness and disturbance rejection.
Keywords :
control system synthesis; pendulums; pole assignment; state feedback; Googol Technology LTD; disturbance rejection; double inverted pendulum system; inverted pendulum experiment equipment; multiobjective controller synthesis problem; regional pole assignment; state feedback controller design; Closed loop systems; Linear matrix inequalities; Mathematical model; Robustness; Uncertain systems; Uncertainty; μ synthesis with; Inverted pendulum; Regional pole assignment;
Conference_Titel :
Control Conference (CCC), 2010 29th Chinese
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-6263-6
