Title :
μ Synthesis with Regional Pole Assignment for an Inverted Pendulum
Author :
Caifen, Fu ; Wen, Tan ; Jizhen, Liu
Author_Institution :
Dept. of Autom., North China Electr. Power Univ., Beijing
Abstract :
Control of an inverted pendulum has been a benchmark example in demonstrating and motivating various controller design techniques. The problem to maintain the robust performance of an inverted pendulum with uncertain or unknown parameters is more challenging. In this paper, the method of mu synthesis with regional pole assignment is used to design a controller for an inverted pendulum with parametric uncertainties by solving a multi-objective controller synthesis problem. Simulation results show that the controller has favorable performance in robustness and disturbance rejection
Keywords :
control system synthesis; nonlinear control systems; pendulums; pole assignment; robust control; uncertain systems; controller design; disturbance rejection; inverted pendulum; mu synthesis; multiobjective controller synthesis; parametric uncertainties; pole assignment; robust performance; Design automation; IEEE catalog; Robust control; Robustness; Uncertainty; μ synthesis; inverted pendulum; pole assignment; robustness;
Conference_Titel :
Control Conference, 2006. CCC 2006. Chinese
Conference_Location :
Harbin
Print_ISBN :
7-81077-802-1
Electronic_ISBN :
7-900669-88-4
DOI :
10.1109/CHICC.2006.280728
