Title :
Analysis and design of controllers for a double inverted pendulum
Author :
Niemann, Henrik ; Poulsen, Jesper Kildegaard
Author_Institution :
Tech. Univ. Denmark, Lyngby, Denmark
Abstract :
A physical control problem is studied with the μ methodology. The issues of modelling, uncertainty modelling, 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 chart. It is shown how these performance limitation will effect the design of a μ controller for the system.
Keywords :
control system analysis; control system synthesis; discrete time systems; nonlinear control systems; position control; stability; μ controller; cart movement limitation; control problem; control signal limitations; controller analysis; controller design; double inverted pendulum; laboratory experiments; performance limitation; performance specification; system controller; system limitations; uncertainty modelling; Automatic control; Automation; Books; Buildings; Closed loop systems; Control systems; Design methodology; Feedback control; Laboratories; Uncertainty;
Conference_Titel :
American Control Conference, 2003. Proceedings of the 2003
Print_ISBN :
0-7803-7896-2
DOI :
10.1109/ACC.2003.1243747
