Title :
Simple multi-PD control algorithm of double inverted pendulum
Author :
Yue-Song, Lin ; Ji-Xin, Qian ; An-Ke, Xue ; Jun-Hong, Wang
Author_Institution :
Inst. of Syst. Eng., Zhejiang Univ., Hangzhou, China
Abstract :
Based on the theory of pole placement and the characteristic of double inverted pendulum, this paper presents multi-PD controller, and applies the controller in the double inverted pendulum laboratorial device. The experiment shows the performance of multi-PD controller outperforms linear quadratic regulator (LQR) controller.
Keywords :
linear quadratic control; pole assignment; two-term control; PD control; double inverted pendulum; linear quadratic regulKlor; multi-PD controller; pole placement; Control systems; Equations; Intelligent control; Kinetic energy; Laboratories; Lagrangian functions; Potential energy; State feedback; Systems engineering and theory; Testing;
Conference_Titel :
TENCON '02. Proceedings. 2002 IEEE Region 10 Conference on Computers, Communications, Control and Power Engineering
Print_ISBN :
0-7803-7490-8
DOI :
10.1109/TENCON.2002.1182595
