Full-state feedback controller design with “delay scheduling” for cart-and-pendulum dynamics

Mechatronics ◽  
2011 ◽  
Vol 21 (1) ◽  
pp. 38-47 ◽  
Author(s):  
Nejat Olgac ◽  
Mursel Emre Cavdaroglu
Keyword(s):  
State Feedback ◽  
Controller Design ◽  
Feedback Controller ◽  
State Feedback Controller ◽  
Full State ◽  
Full State Feedback ◽  
Pendulum Dynamics

Three-Stage Feedback Controller Design With Applications to Three Time-Scale Linear Control Systems

2017 ◽  
Vol 139 (10) ◽  
Author(s):  
Verica Radisavljevic-Gajic ◽  
Milos Milanovic ◽  
Garrett Clayton
Keyword(s):  
Time Scale ◽  
State Feedback ◽  
Controller Design ◽  
Feedback Controller ◽  
New Technique ◽  
Feedback Controllers ◽  
Linear Dynamic ◽  
Subsystem Level ◽  
Full State ◽  
Full State Feedback

This paper presents a new technique for design of full-state feedback controllers for linear dynamic systems in three stages. The new technique is based on appropriate partitioning of the linear dynamic system into linear dynamic subsystems. Every controller design stage is done at the subsystem level using only information about the subsystem (reduced-order) matrices. Due to independent design in each stage, different subsystem controllers can be designed to control different subsystems. Partial subsystem level optimality and partial eigenvalue subsystem assignment can be achieved. Using different feedback controllers to control different subsystems of a system has not been present in any other known linear full-state feedback controller design technique. The new technique requires only solutions of reduced-order subsystem level algebraic equations. No additional assumptions were imposed except what is common in linear feedback control theory (the system is controllable (stabilizable)) and theory of three time-scale linear systems (the fastest subsystem state matrix is invertible)). The local full-state feedback controllers are combined to form a global full-state controller for the system under consideration. The presented results are specialized to the three time-scale linear control systems that have natural decomposition into slow, fast, and very fast subsystems, for which numerical ill conditioning is removed and solutions of the design algebraic equations are easily obtained. The proposed three-stage three time-scale feedback controller technique is demonstrated on the eighth-order model of a fuel cell model.

scholarly journals Application of LQR Full-State Feedback Controller for Rotational Inverted Pendulum

2021 ◽  
Vol 2111 (1) ◽  
pp. 012006
Author(s):  
N Setiawan ◽  
G N P Pratama
Keyword(s):  
State Feedback ◽  
Inverted Pendulum ◽  
Equilibrium Points ◽  
Linear Quadratic Regulator ◽  
Feedback Controller ◽  
Control Law ◽  
Linear Quadratic ◽  
State Feedback Controller ◽  
Full State ◽  
Full State Feedback

Abstract The rotational inverted pendulum is an interesting subject for some researchers, especially control engineers. Its nonlinear and underactuated characteristic make it quite challenging to stabilize it. Hence, a proper control law is a must to make it stable. Here, in this paper, we present a control law using LQR (Linear-Quadratic Regulator) to stabilize the rotational inverted pendulum. The experiments are carried out by linearizing the model and simulate the response in MATLAB. The results show that the controller succeeds to stabilize the states of rotational inverted pendulum to their respective equilibrium points. Even more, it provides zero settling errors.

Sign in / Sign up

Export Citation Format

Share Document