scholarly journals An Analytical Formula for Optimal Tuning of the State Feedback Controller Gains for the Cart-Inverted Pendulum System

2018 ◽  
Vol 51 (1) ◽  
pp. 668-672 ◽  
Author(s):  
Sananda Chatterjee ◽  
Sarit K. Das
Keyword(s):  
State Feedback ◽  
Inverted Pendulum ◽  
Analytical Formula ◽  
The State ◽  
Feedback Controller ◽  
Pendulum System ◽  
Optimal Tuning ◽  
State Feedback Controller ◽  
Inverted Pendulum System

scholarly journals State-feedback control with a full-state estimator for a cart-inverted pendulum system

2018 ◽  
Vol 7 (4.44) ◽  
pp. 203
Author(s):  
Indrazno Siradjuddin ◽  
Zakiyah Amalia ◽  
Erfan Rohadi ◽  
Budhy Setiawan ◽  
Awan Setiawan ◽  
...  
Keyword(s):  
Feedback Control ◽  
State Feedback ◽  
Inverted Pendulum ◽  
System Modeling ◽  
The State ◽  
State Feedback Control ◽  
Underactuated System ◽  
State Estimator ◽  
Pendulum System ◽  
Inverted Pendulum System

A Cart Inverted Pendulum System is an unstable, nonlinear and underactuated system. This makes a cart inverted pendulum system used as a benchmark for testing many control method. A cart must occupy the desired position and the angle of the pendulum must be in an equilibrium point. System modeling of a cart inverted pendulum is important for controlling this system, but modeling using assumptions from state-feedback control is not completely valid. To minimize unmeasured state variables, state estimators need to be designed. In this paper, the state estimator is designed to complete the state-feedback control to control the cart inverted pendulum system. The mathematical model of the cart inverted pendulum system is obtained by using the Lagrange equation which is then changed in the state space form. Mathematical models of motors and mechanical transmissions are also included in the cart inverted pendulum system modeling so that it can reduce errors in a real-time application. The state gain control parameter is obtained by selecting the weighting matrix in the Linear Quadratic Regulator (LQR) method, then added with the Leuenberger observer gain that obtained by the pole placement method on the state estimator. Simulation is done to determine the system performance. The simulation results show that the proposed method can stabilize the cart inverted pendulum system on the cart position and the desired pendulum angle. 

scholarly journals Robust Full State Feedback Controller Design Using H∞ for Inverted Pendulum System

2018 ◽  
pp. 39-48
Keyword(s):  
State Feedback ◽  
Inverted Pendulum ◽  
Controller Design ◽  
Upright Position ◽  
Feedback Controller ◽  
Pendulum System ◽  
Integral Term ◽  
Inverted Pendulum System ◽  
Full State ◽  
Full State Feedback

This paper presents the design of a full state feedback H∞ controller to an inverted pendulum system. The nonlinear and linearized models of the system are obtained. The main goal of the proposed controller is to maintain the pendulum in the upright position and achieve a desirable tracking for the cart position. To achieve desirable tracking properties an integral term is added. The robustness of the proposed controller is examined when a 20% variation in the parameters of system is considered.

Robust Stabilizing Controller Design for Inverted Pendulum System

2014 ◽  
Vol 71 (1) ◽  
Author(s):  
Hazem I. Ali
Keyword(s):  
Steady State ◽  
Time Domain ◽  
State Feedback ◽  
Inverted Pendulum ◽  
Controller Design ◽  
H Infinity ◽  
Pendulum System ◽  
Stabilizing Controller ◽  
Inverted Pendulum System ◽  
System Uncertainties

In this paper the design of robust stabilizing state feedback controller for inverted pendulum system is presented. The Ant Colony Optimization (ACO) method is used to tune the state feedback gains subject to different proposed cost functions comprise of H-infinity constraints and time domain specifications. The steady state and dynamic characteristics of the proposed controller are investigated by simulations and experiments. The results show the effectiveness of the proposed controller which offers a satisfactory robustness and a desirable time response specifications. Finally, the robustness of the controller is tested in the presence of system uncertainties and disturbance.

scholarly journals All Stabilizing State Feedback Controller for Inverted Pendulum Mechanism

2018 ◽  
Vol 51 (4) ◽  
pp. 346-351 ◽  
Author(s):  
Rahman Bitirgen ◽  
Muhsin Hancer ◽  
Ismail Bayezit
Keyword(s):  
State Feedback ◽  
Inverted Pendulum ◽  
Feedback Controller ◽  
State Feedback Controller

scholarly journals T-S Fuzzy System Controller for Stabilizing the Double Inverted Pendulum

2020 ◽  
Vol 2020 ◽  
pp. 1-9
Author(s):  
Boutaina Elkinany ◽  
Mohammed Alfidi ◽  
Redouane Chaibi ◽  
Zakaria Chalh
Keyword(s):  
State Feedback ◽  
Inverted Pendulum ◽  
Fuzzy Controller ◽  
Pendulum System ◽  
Great Ability ◽  
Control Approach ◽  
Feedback Model ◽  
Inverted Pendulum System ◽  
System Controller ◽  
Fuzzy State

This article provides a representation of the double inverted pendulum system that is shaped and regulated in response to torque application at the top rather than the bottom of the pendulum, given that most researchers have controlled the double inverted pendulum based on the lower part or the base. To achieve this objective, we designed a dynamic Lagrangian conceptualization of the double inverted pendulum and a state feedback representation based on the simple convex polytypic transformation. Finally, we used the fuzzy state feedback approach to linearize the mathematical nonlinear model and to develop a fuzzy controller H ∞ , given its great ability to simplify nonlinear systems in order to reduce the error rate and to increase precision. In our virtual conceptualization of the inverted pendulum, we used MATLAB software to simulate the movement of the system before applying a command on the upper part of the system to check its stability. Concerning the nonlinearities of the system, we have found a state feedback fuzzy control approach. Overall, the simulation results have shown that the fuzzy state feedback model is very efficient and flexible as it can be modified in different positions.

The Robust Control Research for Non-Linear Inverted Pendulum System in Mechanical Industry

2013 ◽  
Vol 675 ◽  
pp. 31-34
Author(s):  
Hong Xing Li ◽  
Yong Xin Zhang
Keyword(s):  
State Feedback ◽  
Inverted Pendulum ◽  
Uncertain System ◽  
Paper Analysis ◽  
Pendulum System ◽  
Numerical Examples ◽  
Inverted Pendulum System ◽  
Non Linear ◽  
Control Research ◽  
Sufficiency Conditions

Inverted pendulum system is a non-linear，natural instability and uncertain system. As a controlled objects of control system in mechanical industry, it can be analysis and verification by different control theory and methods. The paper analysis the non-linear inverted pendulum system, then deduces sufficiency conditions of the existence of controller with state feedback. It utilizes standard digital software to get the answer. The feasibility and robustness is demonstrated by numerical examples.

BIFURCATION CONTROL OF A CONGESTION CONTROL MODEL VIA STATE FEEDBACK

2013 ◽  
Vol 23 (06) ◽  
pp. 1330018 ◽  
Author(s):  
MIN XIAO ◽  
WEI XING ZHENG ◽  
JINDE CAO
Keyword(s):  
Hopf Bifurcation ◽  
Congestion Control ◽  
State Feedback ◽  
Stability Domain ◽  
Control Model ◽  
The State ◽  
Feedback Controller ◽  
Bifurcation Control ◽  
Gain Parameter ◽  
State Feedback Controller

This paper proposes to use a state feedback method to control the Hopf bifurcation for a novel congestion control model, i.e. the exponential random early detection (RED) algorithm with a single link and a single source. The gain parameter of the congestion control model is chosen as the bifurcation parameter. The analysis shows that in the absence of the state feedback controller, the model loses stability via the Hopf bifurcation early, and can maintain a stationary sending rate only in a certain domain of the gain parameter. When applying the state feedback controller to the model, the onset of the undesirable Hopf bifurcation is postponed. Thus, the stability domain is extended, and the model possesses a stable sending rate in a larger parameter range. Furthermore, explicit formulae to determine the properties of the Hopf bifurcation are obtained. Numerical simulations are given to justify the validity of the state feedback controller in bifurcation control.

scholarly journals State variable-fuzzy prediction control strategy for superheated steam temperature of thermal power units

2021 ◽  
Vol 25 (6 Part A) ◽  
pp. 4083-4090
Author(s):  
Xuan Tu ◽  
Jiakui Shi ◽  
Kun Yao ◽  
Jie Wan ◽  
Fei Qiao
Keyword(s):  
State Feedback ◽  
Superheated Steam ◽  
Thermal Power ◽  
The State ◽  
Feedback Controller ◽  
Steam Temperature ◽  
State Feedback Controller ◽  
State Variable ◽  
Superheated Steam Temperature ◽  
Fuzzy State

With the large-scale grid connection of new energy power, the random fluctuation existing in the power system is intensified, which leads to frequent fluctuation of load instructions of thermal power units. It is of great significance to improve the variable load performance of the coal-fired units. It is more difficult to control the superheated steam temperature (SST). In order to improve the control performance of SST, a state variable fuzzy predictive control method is proposed in this paper. Firstly, Takagi-Sugeno fuzzy state observer is used to approximate the non-linear plant of the SST. At the same time, based on the state observer, a fuzzy state feedback controller is designed to improve its dynamic characteristics. Thirdly, based on the extended predictive model of the state feedback controller, a model predictive controller is designed to realize the SST tracking control. Dynamic simulation shows the effectiveness of the strategy.

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