Title :
Proportional-integral-plus (PIP) control of an inverted pendulum system
Author :
Dixon, R. ; Young, P.C. ; Chotai, A. ; Shao, J.
Author_Institution :
Dept. of Electr. Eng., Lancaster Univ., UK
Abstract :
This paper discusses the design and implementation of an optimal proportional-integral-plus (PIP) controller for a large inverted pendulum system. Utilising the true digital control (TDC) approach to control systems, a data-based model of the unstable nonminimum phase open-loop system is used for linear quadratic (LQ) optimal design of the PIP controller, which out-performs a more conventional state variable feedback controller based on a continuous-time, mechanistic model of the system.
Keywords :
control system synthesis; digital control; discrete time systems; linear quadratic control; two-term control; LQ optimal control; PIP control; data-based model; inverted pendulum system; linear quadratic optimal control; optimal proportional-integral-plus control design; true digital control; unstable nonminimum-phase open-loop system;
Conference_Titel :
Control '96, UKACC International Conference on (Conf. Publ. No. 427)
Print_ISBN :
0-85296-668-7
DOI :
10.1049/cp:19960628
