Robust Stabilizing Controller Design for Inverted Pendulum System

被引：0
|
作者：
Ali, Hazem I. [1 ]
机构：
[1] Univ Technol Baghdad, Control & Syst Engn Dept, Baghdad, Iraq
来源：
JURNAL TEKNOLOGI | 2014年 / 71卷 / 01期
关键词：
Inverted pendulum; uncertain systems; robust control; ant colony optimization;
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
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.
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页数：13
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