Fictitious Reference Iterative Tuning for state feedback control of inverted pendulum with inertia rotor

Author

Matsui, Yoshihiro ; Akamatsu, Shunichi ; Kimura, Tomohiko ; Nakano, Kazushi ; Sakurama, Kazunori

Author_Institution

Tokyo Nat. Coll. of Technol., Tokyo, Japan

fYear

2011

fDate

13-18 Sept. 2011

Firstpage

1087

Lastpage

1092

Abstract

In this paper, an application of Fictitious Reference Iterative Tuning (FRIT) to single-input multivariable systems is studied. Although the FRIT was proposed to tune PID controllers for single-input single-output systems, the FRIT is able to tune the state feedback gain for single-input multivariable systems. It is shown that the state feedback gain of an inverted pendulum with an inertia rotor can be tuned by the FRIT appropriately through experiments. In addition, the stability criterion for the state feedback gain tuned by the FRIT is discussed.

Keywords

control system synthesis; iterative methods; multivariable control systems; nonlinear control systems; state feedback; three-term control; FRIT; PID controllers; fictitious reference iterative tuning; inertia rotor; inverted pendulum; single-input multivariable systems; single-input single-output systems; state feedback control; state feedback gain; Closed loop systems; Frequency response; Rotors; Sensors; State feedback; Transfer functions; Tuning; FRIT; gain tuning; inverted pendulum; state feedback control; unstable system;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE Annual Conference (SICE), 2011 Proceedings of

Conference_Location

Tokyo

ISSN

pending

Print_ISBN

978-1-4577-0714-8

Type

conf

Filename

6060670