Title :
Robust control of a triple inverted pendulum
Author :
Tsachouridis, Vassilios A.
Author_Institution :
Dept. of Eng., Leicester Univ., UK
Abstract :
The design and implementation of a robust computer control system for balancing and improving the steady state performance of a triple inverted pendulum-cart system is considered. The controller is based on discrete-time H∞ theory. An integrator is used to eliminate the effects of small constant sensor offsets and rail inclinations. Experimental results are reported
Keywords :
H∞ control; discrete time systems; nonlinear control systems; pendulums; robust control; cart-pole system; discrete-time H∞ theory; integrator; rail inclinations; robust computer control system; small constant sensor offsets; triple inverted pendulum-cart system; Actuators; Control systems; DC motors; Nonlinear control systems; Optimal control; Rails; Robust control; Robust stability; Steady-state; Torque control;
Conference_Titel :
Control Applications, 1999. Proceedings of the 1999 IEEE International Conference on
Conference_Location :
Kohala Coast, HI
Print_ISBN :
0-7803-5446-X
DOI :
10.1109/CCA.1999.801149
