An Analytical Formula for Optimal Tuning of the State Feedback Controller Gains for the Cart-Inverted Pendulum System

被引：7
作者：
Chatterjee, Sananda [1 ]
Das, Sarit K. [1 ]
机构：
[1] Indian Inst Technol, Dept Elect Engn, Kharagpur 721302, W Bengal, India
来源：
IFAC PAPERSONLINE | 2018年 / 51卷 / 01期
关键词：
Cart-Inverted-Pendulum system; Stabilization; Multi-Loop approach;
D O I：
10.1016/j.ifacol.2018.05.112
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper resolves the long-standing problem of state-feedback gain tuning for Cart-Inverted Pendulum system by identifying a natural choice for the closed loop poles that ensures speed of response as well as robust stabilization. It first identifies the robustness issue that arises due to gain variations in the input and the output signals of this single-input-two output system. It then proposes a robustness measure for such a system and obtains the controller gains that maximize the same. Simulations, as well as experimental results, confirm the superiority of this controller over existing ones. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
引用
收藏
页码：668 / 672
页数：5
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