Title :
State space controller design for a spatial inverted cart/pendulum system
Author :
Chinichian, M. ; Kashani, R.
Author_Institution :
Indiana-Purdue Univ., Ft. Wayne, IN, USA
Abstract :
A full state-variable feedback controller design for a state-space linear model of an inverted pendulum with two degrees of freedom mounted on a two-degree-of-freedom motor-driven cart is presented. This design is based on a pole-placement technique. The result of numerical simulation of the closed-loop system response to an initial disturbance is presented
Keywords :
closed loop systems; controllers; state-space methods; 2 DOF cart; 2 DOF pendulum; closed-loop system response; initial disturbance; inverted pendulum; numerical simulation; pole-placement technique; spatial inverted cart/pendulum system; state space controller; state-space linear model; state-variable feedback controller; two degrees of freedom; two-degree-of-freedom motor-driven cart; Adaptive control; Control systems; Kinetic energy; Kinetic theory; Lagrangian functions; Motion control; Nonlinear dynamical systems; Nonlinear equations; Potential energy; State-space methods;
Conference_Titel :
Circuits and Systems, 1989., Proceedings of the 32nd Midwest Symposium on
Conference_Location :
Champaign, IL
DOI :
10.1109/MWSCAS.1989.101934
