DocumentCode
3226456
Title
Simple multi-PD control algorithm of double inverted pendulum
Author
Yue-Song, Lin ; Ji-Xin, Qian ; An-Ke, Xue ; Jun-Hong, Wang
Author_Institution
Inst. of Syst. Eng., Zhejiang Univ., Hangzhou, China
Volume
3
fYear
2002
fDate
28-31 Oct. 2002
Firstpage
1428
Abstract
Based on the theory of pole placement and the characteristic of double inverted pendulum, this paper presents multi-PD controller, and applies the controller in the double inverted pendulum laboratorial device. The experiment shows the performance of multi-PD controller outperforms linear quadratic regulator (LQR) controller.
Keywords
linear quadratic control; pole assignment; two-term control; PD control; double inverted pendulum; linear quadratic regulKlor; multi-PD controller; pole placement; Control systems; Equations; Intelligent control; Kinetic energy; Laboratories; Lagrangian functions; Potential energy; State feedback; Systems engineering and theory; Testing;
fLanguage
English
Publisher
ieee
Conference_Titel
TENCON '02. Proceedings. 2002 IEEE Region 10 Conference on Computers, Communications, Control and Power Engineering
Print_ISBN
0-7803-7490-8
Type
conf
DOI
10.1109/TENCON.2002.1182595
Filename
1182595
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