Command governor strategies for constrained control of an inverted pendulum

Author

Calamai, Gabriele ; Casavola, Alessandro ; Mosca, Edoardo

Author_Institution

Dept. of Syst. & Inf., Florence Univ., Italy

fYear

2000

fDate

2000

Firstpage

886

Lastpage

891

Abstract

The purpose of the paper is to demonstrate the synergetic ability of linear control techniques plus command governor strategies to effectively handle difficult real control problems. The plant considered in the paper is a laboratory cart/rod inverted pendulum and the problem consists of its wide-range stabilization under constraints on the motor voltage and rod angle, while providing optimized steady-state and transient tracking performances of the cart position

Keywords

closed loop systems; control system synthesis; linear quadratic control; linear systems; nonlinear control systems; pendulums; position control; stability; state feedback; command governor strategies; constrained control; laboratory cart/rod inverted pendulum; linear control techniques; optimized steady-state performance; optimized transient tracking performance; synergetic ability; wide-range stabilization; Character generation; Constraint optimization; Control systems; Design optimization; Laboratories; Linear systems; Nonlinear control systems; Steady-state; Uncertainty; Voltage;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2000. Proceedings of the 2000 IEEE International Conference on

Conference_Location

Anchorage, AK

Print_ISBN

0-7803-6562-3

Type

conf

DOI

10.1109/CCA.2000.897556

Filename

897556