Title :
Design robust adaptive controller for inverted pendulum system
Author :
Mi, Yang ; Li, Wenlin
Author_Institution :
Dept. of Math. & Phys., Shanghai Univ. of Electr. Power, Shanghai
Abstract :
According to the inverted pendulum system, the Lyapunov function and the controller is designed in different regions by using the ratio of the translation speed and the angular velocity of the pendulum angle, which can solve the difficult caused by the strong nonlinear coupling. The guideway friction and the node friction are considered in this method for the system, so the controller designed in the paper is robust.
Keywords :
Lyapunov methods; adaptive control; control system synthesis; nonlinear control systems; pendulums; robust control; Lyapunov function; angular velocity; guideway friction; inverted pendulum system; node friction; robust adaptive controller design; strong nonlinear coupling; translation speed; Adaptive control; Angular velocity; Angular velocity control; Control systems; Couplings; Friction; Lyapunov method; Nonlinear control systems; Programmable control; Robust control; Inverted Pendulum System; Nonlinear Control; Nonlinear Coupling;
Conference_Titel :
Control and Decision Conference, 2008. CCDC 2008. Chinese
Conference_Location :
Yantai, Shandong
Print_ISBN :
978-1-4244-1733-9
Electronic_ISBN :
978-1-4244-1734-6
DOI :
10.1109/CCDC.2008.4598272
