Title :
Control practice using pendulum
Author :
Yamakita, Masaki ; Hoshino, Tasuku ; Furuta, Katsuhisa
Author_Institution :
Dept. of Control & Syst. Eng., Tokyo Inst. of Technol., Japan
Abstract :
Inverted pendulums are typical examples of unstable systems and have been used for the verification of designed control systems and/or control education in laboratories. In particular, the control of the systems has been known as a good example to show the power of modern control theory. We show two kinds of experimental system using inverted pendulums. One is state transfer control of a double pendulum (TITech double Pendulum) and the other is stabilization and hand-over control of a single inverted pendulum in 3D space by visual feedback using two manipulators. In the former experiment, we can demonstrate a standard stabilizing regulation method and nonlinear control techniques. In the latter one, feedback stabilization and reliable control by non-contact measurement can be taught. We show the details of the experimental systems, the control algorithm and the experimental results
Keywords :
control engineering education; control system synthesis; feedback; manipulators; 3D space; TITech double Pendulum; control practice; hand-over control; inverted pendulums; modern control theory; nonlinear control techniques; standard stabilizing regulation method; state transfer control; unstable systems; visual feedback; Control system synthesis; Control systems; Design engineering; Educational technology; Image processing; Information science; Motion control; Robot kinematics; State feedback; Systems engineering and theory;
Conference_Titel :
American Control Conference, 1999. Proceedings of the 1999
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4990-3
DOI :
10.1109/ACC.1999.782876
