Design and analysis of controllers for a double inverted pendulum.
A physical control problem is studied with the Hinfinity, and the micro methodology. The issues of modeling, uncertainty modeling, performance specification, controller design, and laboratory implementation are discussed. The laboratory experiment is a double inverted pendulum placed on a cart. The limitations in the system with respect to performance are the limitation in the control signal and the limitation of the movement of the cart. It is shown how these performance limitations will effect the design of Hinfinity and micro controllers for the system.
Niemann
Henrik
H
Orsted-DTU, Automation, Technical University of Denmark, DK-2800 Lyngby, Denmark. hhn@oersted.dtu.dk
Poulsen
Jesper Kildegaard
JK
D000465:Algorithms; D017076:Computer-Aided Design; D004867:Equipment Design; D019544:Equipment Failure Analysis; D005246:Feedback / Q000502:physiology*; D005684:Gait / Q000502:physiology; D008124:Locomotion / Q000502:physiology*; D008954:Models, Biological; D009038:Motion; D012371:Robotics / Q000295:instrumentation* / Q000379:methods*