Hybrid control systems: A design case study

Author

Bordbar, B. ; Giacomini, L. ; Holding, D.J.

Author_Institution

Electron. Eng., Aston Univ., Birmingham, UK

fYear

2000

fDate

2000

Firstpage

947

Lastpage

952

Abstract

The paper describes a design case study which explores the hybrid control of a distributed system comprising linked inverted pendulums. First a continuous controller is designed for each pendulum mechanism to provide low-level stabilization and profiled motion control. The paper then addresses the problem of developing a production-line style system using two loosely interconnected pendulum mechanisms and associated product-transfer manipulators. A supervisory system is developed using compositional methods and is modelled and analysed using controlled Petri nets

Keywords

Petri nets; control system synthesis; distributed control; nonlinear control systems; pendulums; stability; associated product-transfer manipulators; compositional methods; continuous controller design; controlled Petri nets; distributed system; hybrid control system design; linked inverted pendulums; loosely interconnected pendulum mechanisms; low-level stabilization; production-line style system; profiled motion control; Computer aided software engineering; Control system analysis; Control systems; Controllability; Design engineering; Distributed control; Interconnected systems; Motion control; Petri nets; Rails;

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.2000.897592

Filename

897592