Title :
Variable Structure Control for Stabilizing Double Inverted Pendulum
Author :
Wu Jun-feng ; Liu Chun-tao ; Deng Yong
Author_Institution :
Dept. of Autom., Harbin Univ. of Sci. & Technol., Harbin
Abstract :
This paper makes a study of application of variable structure control for stabilizing double inverted pendulum system and designs state-feedback controller based on poles placement theory. The researching results of this paper are applied to linear inverted pendulum experiment equipment produced by Googol Technology LTD. so as to verify the effectiveness of the control law. The result of experiments proves that the controller via this method has a good control effect.
Keywords :
control system synthesis; nonlinear control systems; pendulums; stability; state feedback; variable structure systems; Googol Technology; double inverted pendulum system; poles placement theory; state-feedback controller design; variable structure control; AC motors; Automatic control; Automation; Belts; Control systems; Control theory; Mathematical model; Nonlinear control systems; Servomechanisms; Servomotors;
Conference_Titel :
Intelligent Computation Technology and Automation (ICICTA), 2008 International Conference on
Conference_Location :
Hunan
Print_ISBN :
978-0-7695-3357-5
DOI :
10.1109/ICICTA.2008.307
