An Exact Differential Flatness Control for a Non Minimum Phase Model of an Inverted Pendulum

2009 ◽  
Author(s):  
Ali Mansour ◽  
Houssem Jerbi
Keyword(s):  
Inverted Pendulum ◽  
Phase Model ◽  
Differential Flatness ◽  
Minimum Phase ◽  
Flatness Control

Experimental Study of NMP Sample and Hold Input Using an Inverted Pendulum

2018 ◽  
Author(s):  
Yingxu Wang ◽  
Guoming G. Zhu ◽  
Ranjan Mukherjee
Keyword(s):  
Discrete Time ◽  
Continuous Time ◽  
Inverted Pendulum ◽  
Linear Quadratic Regulator ◽  
Sampling Period ◽  
Minimum Phase ◽  
Discrete Time System ◽  
Linear Quadratic ◽  
Sample And Hold ◽  
Control Configuration

Early research showed that a zero-order hold is able to convert a continuous-time non-minimum-phase (NMP) system to a discrete-time minimum-phase (MP) system with a sufficiently large sampling period. However the resulting sample period is often too large to adequately cover the original NMP system dynamics and hence not suitable for control application to take advantage of a discrete-time MP system. This problem was solved using different sample and hold inputs (SHI) to reduce the sampling period significantly for MP discrete-time system. Three SHIs were studied analytically and they are square pulse, forward triangle and backward triangle SHIs. To validate the finding experimentally, a dual-loop linear quadratic regulator (LQR) control configuration is designed for the Quanser single inverted pendulum (SIP) system, where the SIP system is stabilized using the Quanser continuous-time LQR (the first loop) and an additional discrete-time LQR (the second loop) with the proposed SHIs to reduce the cart oscillation. The experimental results show more than 75% reduction of the steady-state cart displacement variance over the single-loop Quanser controller and hence demonstrated the effectiveness of the proposed SHI.

Modeling and Control of Fuel Cell/Supercapacitor Hybrid Source Based on Differential Flatness Control

2010 ◽  
Vol 59 (6) ◽  
pp. 2700-2710 ◽  
Author(s):  
P Thounthong ◽  
S Pierfederici ◽  
J.-P Martin ◽  
M Hinaje ◽  
B Davat
Keyword(s):  
Fuel Cell ◽  
Differential Flatness ◽  
Modeling And Control ◽  
Flatness Control ◽  
And Control

scholarly journals NON-MINIMUM PHASE MODEL OF VERTICAL POSITION ELECTRO-HYDRAULIC CYLINDER FOR TRAJECTORY ZPETC

2012 ◽  
Vol 5 (2) ◽  
pp. 504-520 ◽  
Author(s):  
Norlela Ishak ◽  
Mazidah Tajjudin ◽  
Hashimah Ismail ◽  
Michael Patrick ◽  
Yahaya Md Sam ◽  
...  
Keyword(s):  
Hydraulic Cylinder ◽  
Phase Model ◽  
Vertical Position ◽  
Minimum Phase
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