Stabilizing Control for Furuta Pendulum Systems with Low Resolution Sensors

This paper presents a stabilizing control for linear systems with low resolution sensors. The quantization error in low resolution sensors cannot be neglect, and then a stabilizer should take the error into account. The stabilizer may be realized as an event-based controller because measurement is performed when low resolution sensors output quantized values. The measurement output may be a constant value when the ideal output of the plant is within a quantization width. Therefore it is difficult to design a controller and estimator of the systems according to ordinary linear control system designs in the use of the measurement output. This paper proposes a simple controller designed which is based on the generalized holder concept to overcome this problem. The generalized holder consists of a dynamic holder and corrector, and this paper also presents the separation theorem about the pole assignments of both dynamic holder and corrector in our case. This paper also extends the propose method for linear systems to pendulum systems with use of SDRE techniques. Simulations are performed to verify the effectiveness.