Title :
Multi-inputs stabilization of pendulum on flexible base
Author :
Sato, Noboru ; Kobayash, Seiichi ; Suzuk, Satoshi ; Furuta, Katsuhisa
Author_Institution :
Major of Comput. & Syst. Eng., Tokyo Denki Univ., Saitama, Japan
Abstract :
This paper designs controller to stabilization of the pendulum on the flexible base using two actuators. The LQ optimal control is used to stabilize the pendulum and to reduce the vibration. Then, the nonlinear optimal control by solving state dependent Riccati equation (SDRE) is used to swing-up and to stabilize the pendulum. The effectiveness is verified through the simulation.
Keywords :
Riccati equations; actuators; control system synthesis; linear quadratic control; nonlinear control systems; pendulums; stability; vibration control; LQ optimal control; actuators; control system synthesis; controller design; flexible base; multi-inputs stabilization; nonlinear optimal control; state dependent Riccati equation; swing-up pendulum; vibration control;
Conference_Titel :
SICE 2003 Annual Conference
Conference_Location :
Fukui, Japan
Print_ISBN :
0-7803-8352-4
