Stabilization of a Cart-Inverted Pendulum system using a 2-periodic controller: Simulation results

Author

Dey, Anamika ; Chakraborty, Shiladri ; Das, Sajal K.

Author_Institution

Dept. of Electr. Eng., Indian Inst. of Technol., Kharagpur, Kharagpur, India

fYear

2013

fDate

13-15 Dec. 2013

Firstpage

169

Lastpage

174

Abstract

Robust compensation in the continuous domain using high frequency periodic controllers was proposed in [6] and its application to Cart-Inverted Pendulum system was demonstrated in [7]. Again, a method for robust compensation in discrete domain using 2-periodic controllers has been proposed in [11]. In this paper this 2-periodic controller is applied for robust compensation of the Cart-Inverted Pendulum system. The improvements in results (relative to linear-discrete-time-invariant (LDTI) controllers) are compared in simulation with the same obtained in [7].

Keywords

compensation; control system synthesis; discrete time systems; feedback; nonlinear control systems; pendulums; periodic control; position control; robust control; LDTI controllers; cart-inverted pendulum system stabilization; discrete 2-periodic controller design algorithm; discrete domain; high frequency periodic controllers; linear-discrete-time-invariant controllers; robust compensation; Conferences; Control systems; Mathematical model; Poles and zeros; Polynomials; Robustness; Cart-Inverted Pendulum; Discrete-time periodic controller; Robust stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Process & Control (ICSPC), 2013 IEEE Conference on

Conference_Location

Kuala Lumpur

Print_ISBN

978-1-4799-2208-6

Type

conf

DOI

10.1109/SPC.2013.6735126

Filename

6735126