A quantitative measure of the degree of output controllability for output regulation control systems: Concept, approach, and applications

2021 ◽  
pp. 107754632110201
Author(s):  
Yaping Xia ◽  
Ruiyu Li ◽  
Minghui Yin ◽  
Yun Zou
Keyword(s):  
Structural Parameters ◽  
Quantitative Measure ◽  
Output Regulation ◽  
State Regulation ◽  
Control Effect ◽  
Pendulum System ◽  
Design And Optimization ◽  
Inverted Pendulum System ◽  
State Regulator ◽  
Output Controllability

Currently, many research studies reveal that for state regulator problems, the higher the degree of controllability is, the better the control effect likely is. Note that for the output regulator problems, the control performance is often evaluated by outputs. This article hence generalizes the concept and applications of degree of controllability to the case of output regulator. To this end, a kind of degree of output controllability is presented. Furthermore, simulations on wind turbines and the inverted pendulum system demonstrate that better control effect may be achieved by increasing the degree of output controllability measure. These results imply that similar to the case of degree of controllability for state regulation control, the degree of output controllability measure is likely a feasible candidate index for the design and optimization of the structural parameters of controlled plants in the case of output regulation control.

scholarly journals Output regulation using new sliding surface with an implementation on inverted pendulum system

2019 ◽  
Vol 45 ◽  
pp. 85-91 ◽  
Author(s):  
Asif Chalanga ◽  
Machhindranath Patil ◽  
Bijnan Bandyopadhyay ◽  
Hemendra Arya
Keyword(s):  
Inverted Pendulum ◽  
Output Regulation ◽  
Sliding Surface ◽  
Pendulum System ◽  
Inverted Pendulum System

Optimal Control Theory Research on Inverted Pendulum System

2014 ◽  
Vol 494-495 ◽  
pp. 1118-1121
Author(s):  
Shuo Mei Wu ◽  
Jian Wei Song ◽  
Wen Qing Zhang
Keyword(s):  
Optimal Control ◽  
Inverted Pendulum ◽  
Linear Quadratic Regulator ◽  
Good Control ◽  
Control Effect ◽  
Linear Quadratic ◽  
Linear Quadratic Optimal Control ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Theory Research

The state space expression can be deduced by establishing the mathematical model of inverted pendulum system. In this paper, linear quadratic regulator (LQR) is used to control the inverted pendulum system, providing better balance between system robustness stability and rapidity. The simulation structure shows that the better the system anti-interference capability is, the shorter its recovery time is. Good control effect can be achieved by applying linear quadratic optimal control in the control of double inverted pendulum balancing system.

LQR Control of Single Inverted Pendulum Based on Square Root Filter

2012 ◽  
Vol 433-440 ◽  
pp. 6999-7003 ◽  
Author(s):  
Hong Mei Wang ◽  
Shi Jin Jiang
Keyword(s):  
Inverted Pendulum ◽  
Linear Quadratic Regulator ◽  
Weight Coefficient ◽  
Feedback Gain ◽  
Square Root ◽  
Control Effect ◽  
Linear Quadratic ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Square Root Filter

Inverted pendulum system is a nonlinear, coupling, multi-variable and unstable system. In this paper, Linear Quadratic Regulator (LQR) is used to achieve optimal control of single inverted pendulum. First, the state-space model of the system is created. Then state feedback gain is calculated by selecting suitable weight coefficient matrix. Because the inverted pendulum system exists all kinds of disturbs inevitably, the states have errors and the accuracy of control drops. So square root filter is used to estimate states on line before LQR. The simulation results show control effect has obvious improvement because of adopting square root filter.

Application of Genetic Algorithm Optimization LQR Weighting Matrices Control Inverted Pendulum

2014 ◽  
Vol 543-547 ◽  
pp. 1274-1277 ◽  
Author(s):  
Peng Shen
Keyword(s):  
Genetic Algorithms ◽  
Inverted Pendulum ◽  
Control Method ◽  
Algorithm Optimization ◽  
Control Effect ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Optimal Control Method ◽  
Weighted Matrix ◽  
Triple Inverted Pendulum

In practice, the key problem to apply LQR optimal control method is how to correctly choose the weighted matrix of performance index. At present, there is no formulaic approach for this problem. To obtain the satisfying results, people must repeat to test many times. This kind of LQR control method based on genetic algorithms, which can obtain satisfying control results at first hand, is presented for triple inverted pendulum system. The method optimizes the Q-matrix by using genetic algorithms, selects trace of the result of Riccati equation as the objective function. The control problem of triple inverted pendulum is resolved successfully. The simulation results prove that the control effect by this method is better than the other methods mentioned in the references.

An Optimized Design for Inverted Pendulum System of Active Disturbance Rejection Control Based on Generic Algorithm

2013 ◽  
Vol 313-314 ◽  
pp. 553-558 ◽  
Author(s):  
Jun Du ◽  
Jiu Long Jiang
Keyword(s):  
Inverted Pendulum ◽  
Control Method ◽  
System Control ◽  
Optimized Design ◽  
Control Effect ◽  
Generic Algorithm ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Disturbance Rejection Control ◽  
System Controller

The dissertation comes up with an optimized design for ADRC inverted pendulum system controller based on Generic Algorithm. This design making full use of ADRC method ,which can coordinate the ability to the response time and overshoot meanwhile it can also be provided with the characteristic of high anti-jamming ability, well Robustness ability ,designing ADRC inverted pendulum system controller for improving the performance of inverted pendulum system .At the same time ,aiming at more parameter of ADRC implement-designed ,more difficult to carry on designing problem ,it conducts more excellent design of excellent parameter with applying generic optimization algorithm ,and obtains the most excellent parameter of performance .At last simulate the control model with the help of MATLAB. Emulation result indicates ,the ADRC inverted pendulum system control method that the dissertation showing has provided with well evanescence and stabilization ,less responding time without overshoot ,with more control effect.

Predictor-network-based MRACS for inverted pendulum system.

1991 ◽  
Vol 111 (3) ◽  
pp. 221-229 ◽  
Author(s):  
Motomiki Uchida ◽  
Yukihiro Toyoda ◽  
Yoshikuni Akiyama ◽  
Kazushi Nakano ◽  
Hideo Nakamura
Keyword(s):  
Inverted Pendulum ◽  
Pendulum System ◽  
Inverted Pendulum System

Optimal PID Design Approaches for an Inverted Pendulum System

2016 ◽  
Vol 9 (3) ◽  
pp. 167 ◽  
Author(s):  
Muhammad Sani Gaya ◽  
Anas Abubakar Bisu ◽  
Syed Najib Syed Salim ◽  
I. S. Madugu ◽  
L. A. Yusuf ◽  
...  
Keyword(s):  
Inverted Pendulum ◽  
Pendulum System ◽  
Inverted Pendulum System

scholarly journals An Optimized Triggering Algorithm for Event-Triggered Control of Networked Control Systems

Mathematics ◽  
2021 ◽  
Vol 9 (11) ◽  
pp. 1262
Author(s):  
Sunil Kumar Mishra ◽  
Amitkumar V. Jha ◽  
Vijay Kumar Verma ◽  
Bhargav Appasani ◽  
Almoataz Y. Abdelaziz ◽  
...  
Keyword(s):  
Control Systems ◽  
Networked Control Systems ◽  
Networked Control ◽  
Pendulum System ◽  
Uniform Sampling ◽  
Inverted Pendulum System ◽  
Event Triggering ◽  
Non Uniform Sampling ◽  
System States ◽  
Event Triggered

This paper presents an optimized algorithm for event-triggered control (ETC) of networked control systems (NCS). Initially, the traditional backstepping controller is designed for a generalized nonlinear plant in strict-feedback form that is subsequently extended to the ETC. In the NCS, the controller and the plant communicate with each other using a communication network. In order to minimize the bandwidth required, the number of samples to be sent over the communication channel should be reduced. This can be achieved using the non-uniform sampling of data. However, the implementation of non-uniform sampling without a proper event triggering rule might lead the closed-loop system towards instability. Therefore, an optimized event triggering algorithm has been designed such that the system states are always forced to remain in stable trajectory. Additionally, the effect of ETC on the stability of backstepping control has been analyzed using the Lyapunov stability theory. Two case studies on an inverted pendulum system and single-link robot system have been carried out to demonstrate the effectiveness of the proposed ETC in terms of system states, control effort and inter-event execution time.

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