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

fYear

2007

fDate

17-20 Sept. 2007

Firstpage

507

Lastpage

514

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;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE, 2007 Annual Conference

Conference_Location

Takamatsu

Print_ISBN

978-4-907764-27-2

Electronic_ISBN

978-4-907764-27-2

Type

conf

DOI

10.1109/SICE.2007.4421037

Filename

4421037

Link To Document

https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2637142