Title :
Hybrid control systems: A design case study
Author :
Bordbar, B. ; Giacomini, L. ; Holding, D.J.
Author_Institution :
Electron. Eng., Aston Univ., Birmingham, UK
Abstract :
The paper describes a design case study which explores the hybrid control of a distributed system comprising linked inverted pendulums. First a continuous controller is designed for each pendulum mechanism to provide low-level stabilization and profiled motion control. The paper then addresses the problem of developing a production-line style system using two loosely interconnected pendulum mechanisms and associated product-transfer manipulators. A supervisory system is developed using compositional methods and is modelled and analysed using controlled Petri nets
Keywords :
Petri nets; control system synthesis; distributed control; nonlinear control systems; pendulums; stability; associated product-transfer manipulators; compositional methods; continuous controller design; controlled Petri nets; distributed system; hybrid control system design; linked inverted pendulums; loosely interconnected pendulum mechanisms; low-level stabilization; production-line style system; profiled motion control; Computer aided software engineering; Control system analysis; Control systems; Controllability; Design engineering; Distributed control; Interconnected systems; Motion control; Petri nets; Rails;
Conference_Titel :
Control Applications, 2000. Proceedings of the 2000 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
0-7803-6562-3
DOI :
10.1109/CCA.2000.897592
