Title :
Closed-loop model validation for an inverted pendulum experiment via a linear matrix inequality approach
Author :
Chen, Li ; Smith, Roy
Author_Institution :
Dept. of Electr. & Comput. Eng., California Univ., Santa Barbara, CA, USA
Abstract :
Recent sampled-data time domain model validation techniques are applied to the inverted-pendulum experiment. An LQG controller is first designed to stabilize the system. Based on the closed-loop finite length sampled datum, a robust control model is derived and model validation tests are run to check the model validity using the linear matrix inequality algorithm
Keywords :
closed loop systems; control system synthesis; linear quadratic Gaussian control; matrix algebra; nonlinear control systems; pendulums; robust control; sampled data systems; time-domain synthesis; LMI; LQG controller; closed-loop finite length sampled datum; closed-loop model validation; inverted pendulum experiment; linear matrix inequality approach; model validation tests; robust control model; sampled-data time domain model validation techniques; stabilization; Context modeling; Control systems; Linear matrix inequalities; Position measurement; Robust control; System testing; Transfer functions; Uncertainty; Vectors; Voltage;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.657741
