DocumentCode
2570554
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
fYear
2008
fDate
2-4 July 2008
Firstpage
4962
Lastpage
4964
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/CCDC.2008.4598272
Filename
4598272
Link To Document