Title :
Multivariable adaptive model output following control system based on backstepping strategy and its application to parallel inverted pendulums
Author :
Takahashi, Masanori ; Mizumoto, Ikuro ; Iwai, Zenta ; Kohzawa, Ryuichi
Author_Institution :
Ariake Nat. Coll. of Technol., Omuia, Japan
Abstract :
In this paper, we propose a design method of an output feedback-based adaptive model output following control system based on backstepping strategy for MIMO plants. It is shown that the proposed adaptive control system has robustness with regard to output-dependent disturbances. Further, the proposed adaptive control method is applied to the parallel inverted pendulums with output-dependent disturbances and the effectiveness of the control system is confirmed through experiments
Keywords :
MIMO systems; control system synthesis; feedback; model reference adaptive control systems; multivariable control systems; nonlinear control systems; pendulums; robust control; MIMO plants; MRAC; adaptive control method; backstepping strategy; multivariable adaptive model output following control system; output feedback-based adaptive model output following control system; output-dependent disturbances; parallel inverted pendulums; robustness; Adaptive control; Backstepping; Control system synthesis; Design methodology; Educational institutions; MIMO; Output feedback; Programmable control; Robustness; Transfer functions;
Conference_Titel :
Control Applications, 1999. Proceedings of the 1999 IEEE International Conference on
Conference_Location :
Kohala Coast, HI
Print_ISBN :
0-7803-5446-X
DOI :
10.1109/CCA.1999.801150
