Oscillatory Tracking Control of a Class of Nonlinear Systems

2012 ◽  
Vol 134 (3) ◽  
Author(s):  
Zheng Wang ◽  
Yi Guo
Keyword(s):  
Nonlinear Systems ◽  
Tracking Control ◽  
State Feedback ◽  
Inverted Pendulum ◽  
Feedforward Control ◽  
Initial Conditions ◽  
Pendulum System ◽  
Physical Systems ◽  
Inverted Pendulum System ◽  
State Measurement

Vibration control is an effective alternative to conventional feedback and feedforward control. Motivated by its important application in physical systems and few results on general oscillatory tracking control, we consider tracking control of a class of nonlinear systems using oscillation in the paper. We propose a new oscillatory control design using general averaging analysis for the tracking problem. Based on the oscillation functions associated with accessible vibrating components of the system, oscillatory control is designed to track a desired trajectory. Comparing to existing oscillatory tracking control, our approach is robust to initial conditions. We show the effectiveness of the proposed method by two simulation examples, which include a second-order nonholonomic integrator and the inverted pendulum system. For the inverted pendulum system, we show that our designed oscillatory control does not need state feedback to track a desired trajectory, which is desirable for systems where state measurement is not feasible.

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 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.

H∞ tracking control for an inverted pendulum

2018 ◽  
Vol 24 (16) ◽  
pp. 3515-3524 ◽  
Author(s):  
M Ashok Kumar ◽  
S Kanthalakshmi
Keyword(s):  
Weight Function ◽  
Tracking Control ◽  
Inverted Pendulum ◽  
Weight Functions ◽  
Pendulum System ◽  
Shaping Technique ◽  
Inverted Pendulum System ◽  
Loop Shaping ◽  
Loop Transfer Function ◽  
And Performance

The objective of this paper is to design an [Formula: see text] controller for an inverted pendulum system, synthesized using the [Formula: see text] loop shaping technique. In the [Formula: see text] loop shaping technique, a linear plant model is augmented with certain weight functions, such as the sensitivity weight function and complementary sensitivity weight function, so that the closed loop transfer function of the plant will have the desired performance. In this work, the [Formula: see text] controller is synthesized and the analysis on robustness and performance of the system is done by taking the singular value response and robustness indicator plots.

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