Title :
H∞ control of an experimental inverted pendulum with dry friction
Author :
van der Linden, Gert-Wim ; Lambrechts, Paul F.
Author_Institution :
Mech. Eng. Syst. & Control Group, Delft Univ. of Technol., Netherlands
Abstract :
The H∞ optimal control of an experimental inverted pendulum having a considerable amount of dry friction in the bearings of its supporting carriage is considered. Although the problem is stated in a linear setting, a satisfying H∞ optimal controller is realized by representing the control problem by a linear standard plant incorporating the essential effect of the nonlinear dry friction phenomenon. The resulting controller is applied successfully to an experimental setup, using a digital control system based on a TMS320C25 digital signal processor
Keywords :
digital control; friction; nonlinear control systems; optimal control; H∞ optimal control; TMS320C25 digital signal processor; digital control system; experimental inverted pendulum; nonlinear dry friction; Control design; Control systems; Control theory; Digital control; Digital signal processors; Friction; H infinity control; Mechanical systems; Optimal control; Systems engineering and theory;
Conference_Titel :
Control Applications, 1992., First IEEE Conference on
Conference_Location :
Dayton, OH
Print_ISBN :
0-7803-0047-5
DOI :
10.1109/CCA.1992.269888
