Title :
Stabilization of Rotary Double Inverted Pendulum using robust gain-scheduling control
Author :
Aribowo, A.G. ; Nazaruddin, Y.Y. ; Joelianto, E. ; Sutarto, H.Y.
Author_Institution :
Inst. Teknologi Bandung, Bandung
Abstract :
Development and application of linear parameter varying (LPV) controller for stabilization of upright position on rotary double inverted pendulum (RDIP) is presented. A robust gain scheduling approach is used for LPV controller synthesis. The stabilization problem of RDIP should handle three parameter uncertainties and one external disturbance. Lime-response evaluation shows that LPV controller outperform the LQR especially in terms of control performance and RMSE analysis.
Keywords :
control system synthesis; linear systems; nonlinear control systems; robust control; controller synthesis; gain-scheduling control; linear parameter varying control; parameter uncertainties; robust control; rotary double inverted pendulum; stabilization; Control system synthesis; Control systems; Instruments; Open loop systems; Performance analysis; Physics; Robust control; Robustness; Time varying systems; Uncertain systems; LPV; LQR; RDIP; Robust Gain-Scheduling; performance;
Conference_Titel :
SICE, 2007 Annual Conference
Conference_Location :
Takamatsu
Print_ISBN :
978-4-907764-27-2
Electronic_ISBN :
978-4-907764-27-2
DOI :
10.1109/SICE.2007.4421037
