Title :
Command governor strategies for constrained control of an inverted pendulum
Author :
Calamai, Gabriele ; Casavola, Alessandro ; Mosca, Edoardo
Author_Institution :
Dept. of Syst. & Inf., Florence Univ., Italy
Abstract :
The purpose of the paper is to demonstrate the synergetic ability of linear control techniques plus command governor strategies to effectively handle difficult real control problems. The plant considered in the paper is a laboratory cart/rod inverted pendulum and the problem consists of its wide-range stabilization under constraints on the motor voltage and rod angle, while providing optimized steady-state and transient tracking performances of the cart position
Keywords :
closed loop systems; control system synthesis; linear quadratic control; linear systems; nonlinear control systems; pendulums; position control; stability; state feedback; command governor strategies; constrained control; laboratory cart/rod inverted pendulum; linear control techniques; optimized steady-state performance; optimized transient tracking performance; synergetic ability; wide-range stabilization; Character generation; Constraint optimization; Control systems; Design optimization; Laboratories; Linear systems; Nonlinear control systems; Steady-state; Uncertainty; Voltage;
Conference_Titel :
Control Applications, 2000. Proceedings of the 2000 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
0-7803-6562-3
DOI :
10.1109/CCA.2000.897556
