Title :
Real-time study of robustness aspects of periodic controller for cart-inverted pendulum system
Author :
Chakraborty, Arpan ; Dey, J.
Author_Institution :
Dept. of Electr. Eng., NIT, Durgapur, India
Abstract :
A real-time implementation of continuous-time periodic controller is carried out for cart-inverted pendulum system. The robustness (under plant parameter variations), disturbance rejection and noise attenuation properties of the periodic controller have been investigated thoroughly in real-time. The robustness aspects of the periodic controller have been compared with that of a linear quadratic regulator (LQR), and found out to be superior to LQR.
Keywords :
continuous time systems; linear quadratic control; nonlinear control systems; pendulums; robust control; LQR; cart-inverted pendulum system; continuous-time periodic controller; disturbance rejection property; linear quadratic regulator; noise attenuation property; plant parameter variation; robustness aspect; Force; Mathematical model; Poles and zeros; Polynomials; Real-time systems; Robustness; Voltage control; Periodic Controller; Real-time implementation; Robustness;
Conference_Titel :
Industrial Technology (ICIT), 2013 IEEE International Conference on
Conference_Location :
Cape Town
Print_ISBN :
978-1-4673-4567-5
Electronic_ISBN :
978-1-4673-4568-2
DOI :
10.1109/ICIT.2013.6505667
