Robust controller design for a rotary double inverted pendulum using linear matrix inequalities

2007 ◽  
Author(s):  
Ha Hoang ◽  
Manop Wongsaisuwan
Keyword(s):  
Linear Matrix Inequalities ◽  
Inverted Pendulum ◽  
Controller Design ◽  
Linear Matrix ◽  
Matrix Inequalities ◽  
Robust Controller ◽  
Robust Controller Design

H-Infinity Robust Control Methodology of Multi-Variable NCSs

2010 ◽  
Vol 97-101 ◽  
pp. 2373-2376
Author(s):  
Li Sheng Wei ◽  
Ming Jiang ◽  
Qi Gong Chen ◽  
Min Rui Fei
Keyword(s):  
Control Systems ◽  
Controller Design ◽  
Networked Control Systems ◽  
Lyapunov Stability Theory ◽  
Linear Matrix ◽  
Matrix Inequalities ◽  
Robust Controller ◽  
H Infinity ◽  
Control Methodology ◽  
Robust Controller Design

This note investigates H-infinity robust controller design for uncertain multi-variable networked control systems with disturbance. The complete mathematical model is derived. And the sufficient condition for asymptotical stability is analyzed by using 2nd Lyapunov stability theory combined with free-weighting matrices techniques. The existence of such a controller is given in terms of the solvability of linear matrix inequalities. The efficacy and feasibility of the proposed methods is shown by presenting simulation results.

Non-Fragile Decentralized Control for the Uncertain Singular Large-Scale Systems with Time-Delay

2011 ◽  
Vol 317-319 ◽  
pp. 2204-2207
Author(s):  
Dong Mei Yang ◽  
Qing Sun
Keyword(s):  
Time Delay ◽  
Linear Matrix Inequalities ◽  
Decentralized Control ◽  
Large Scale ◽  
Controller Design ◽  
Linear Matrix ◽  
Sufficient Condition ◽  
Matrix Inequalities ◽  
Large Scale Systems ◽  
System With Time Delay

This paper is concerned with the non-fragile decentralized controller design problem for uncertain singular large-scale system with time-delay. Sufficient condition for the controller is expressed in terms of linear matrix inequalities(LMIs). When this condition is feasible, the desired controller can be obtained with additive gain perturbations and multiplicative gain perturbations. Finally, a numerical example is also given to illustrate the effectiveness.

Stabilization of the Rotary Inverted Pendulum Using Aggregate Modeling

2006 ◽  
Author(s):  
Kiriakos Kiriakidis ◽  
Matthew Feemster ◽  
Richard O'Brien
Keyword(s):  
Linear Matrix Inequalities ◽  
Inverted Pendulum ◽  
Feasibility Problem ◽  
Linear Matrix ◽  
Matrix Inequalities ◽  
Aggregate Model ◽  
Stabilizing Controller ◽  
Aggregate Modeling ◽  
Operating Region ◽  
Rotary Inverted Pendulum

Using the method of aggregate modeling, the paper derives an approximation of the rotary pendulum's Euler-Lagrange dynamics within a specified operating region. Based on the resulting aggregate model, the authors cast the system's stabilization as a feasibility problem associated with linear matrix inequalities. Furthermore, the authors test the resulting stabilizing controller on the actual rotary pendulum and verify the expected results experimentally.

scholarly journals Guaranteed Cost Nonfragile Robust Controller for Walking Simulation of Quadruped Search Robot on a Slope of VRML Model

2014 ◽  
Vol 6 ◽  
pp. 948795
Author(s):  
Peng Wang ◽  
Jixiang Li ◽  
Yuan Zhang
Keyword(s):  
Linear Matrix Inequalities ◽  
Linear Matrix ◽  
Modeling Language ◽  
Displacement Curve ◽  
Model Structure ◽  
Matrix Inequality ◽  
Matrix Inequalities ◽  
Robust Controller ◽  
3D Terrain ◽  
Guaranteed Cost

The problem of walking simulation for the quadruped search robot on a slope is described as an uncertainty system. In order to create the virtual ramp road environment, VRML modeling language is used to build a real environment, which is a 3D terrain scene in Matlab platform. According to the VRML model structure of the quadruped search robot, a guaranteed cost nonfragile robust controller is designed for ramp road walking simulation. The constraint inequation is transformed into a strict linear inequality by using two equalities; the controller and the guaranteed cost upper bound are given based on the solutions of the linear matrix inequality. And the approaches of designing the controller are given in terms of linear matrix inequalities. The walking stability of quadruped search robot is observed using the VRML model established with the change of gravity curve. Simulation results show that the gravity displacement curve of the robot is smooth. The results given by linear matrix inequalities indicate that the proposed guaranteed cost controller is correct and effective.

Robust controller synthesis via non-linear matrix inequalities

1999 ◽  
Vol 72 (11) ◽  
pp. 971-980 ◽  
Author(s):  
Emmanuel G. Collins ◽  
Debashis Sadhukhan ◽  
Layne T. Watson
Keyword(s):  
Linear Matrix Inequalities ◽  
Controller Synthesis ◽  
Linear Matrix ◽  
Matrix Inequalities ◽  
Robust Controller ◽  
Non Linear
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