Reducing the Stabilizing Control Order for a Double Inverted Pendulum

被引：4
|
作者：
Voevoda, A. A. [1 ]
Koryukin, A. N. [1 ]
Chekhonadskikh, A. V. [1 ]
机构：
[1] Novosibirsk State Tech Univ, Pr Karla Marksa 20, Novosibirsk 630092, Russia
来源：
OPTOELECTRONICS INSTRUMENTATION AND DATA PROCESSING | 2012年 / 48卷 / 06期
关键词：
automatic control system; reduced-order controller; double inverted pendulum; Hurwitz stability; multiple poles;
D O I：
10.3103/S8756699012060076
中图分类号：
O4 [物理学];
学科分类号：
0702 ;
摘要：
The problem of stabilization of an unstable plant by a reduced-order single-channel controller is considered. The possibility of compensating small deviations of a double inverted pendulum on a cart by acting on the cart is studied. An algebraic method for finding the extreme locations of the poles through the construction of root simplexes is proposed. Using this, the Hurwitz stability boundaries for various reduced-order controllers are calculated. It is shown that robust stabilization of the pendulum system in the class of reduced-order controllers is impossible.. Keywords: automatic control system, reduced-order controller, double inverted pendulum, Hurwitz stability, multiple poles.
引用
收藏
页码：593 / 604
页数：12
相关论文
共 50 条
  • [31] Fuzzy control of a physical double inverted pendulum model
    Vascák, J
    COMPUTATIONAL INTELLIGENCE: THEORY AND APPLICATIONS, 1999, 1625 : 482 - 494
  • [32] Applications of Neural Networks for Control of a Double Inverted Pendulum
    Arbo, Mathias H.
    Raijmakers, Paul A.
    Mladenov, Valeri M.
    2014 12TH SYMPOSIUM ON NEURAL NETWORK APPLICATIONS IN ELECTRICAL ENGINEERING (NEUREL), 2014, : 89 - 92
  • [33] Application of Multistage Fuzzy Control to A Double Inverted Pendulum
    Sun Qianlai
    Sun Zhiyi
    2009 IEEE INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION, VOLS 1-3, 2009, : 2027 - 2030
  • [34] Application of Variable Structure Control for the Double Inverted Pendulum
    Zhu, Bing
    PROCEEDINGS OF THE SECOND INTERNATIONAL CONFERENCE ON MODELLING AND SIMULATION (ICMS2009), VOL 8, 2009, : 51 - 56
  • [35] Nonlinear optimal control for the rotary double inverted pendulum
    Rigatos G.
    Abbaszadeh M.
    Siano P.
    Cuccurullo G.
    Pomares J.
    Sari B.
    Advanced Control for Applications: Engineering and Industrial Systems, 2024, 6 (02):
  • [36] On stabilization of an inverted double pendulum with one control torque
    A. M. Formal’skii
    Journal of Computer and Systems Sciences International, 2006, 45 : 337 - 344
  • [37] Motion mode control inverted pendulum in double system
    Xiao, J
    Zhang, S
    Xiao, HZ
    Xi, N
    2005 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1 AND 2, 2005, : 831 - 836
  • [38] Acceleration Control Approach of Double Inverted Pendulum System
    Lukowska, A.
    Tomaszuk, P.
    Ciezkowski, M.
    Dzierzek, K.
    Recko, M.
    2018 19TH INTERNATIONAL CARPATHIAN CONTROL CONFERENCE (ICCC), 2018, : 122 - 127
  • [39] Dynamic weighting fuzzy control for double inverted pendulum
    Shi, Xiang-Xing
    Li, Ping
    Sun, Yin-Shan
    Chen, Xue-Yan
    Shiyou Huagong Gaodeng Xuexiao Xuebao/Journal of Petrochemical Universities, 2005, 18 (02): : 83 - 86
  • [40] On stabilization of an inverted double pendulum with one control torque
    Formal'skii, A. M.
    JOURNAL OF COMPUTER AND SYSTEMS SCIENCES INTERNATIONAL, 2006, 45 (03) : 337 - 344
12345