Stabilization of Inverted Pendulum: A Multirate Output Feedback Based Discrete Time Sliding Mode Control

被引：0
|
作者：
Ngadengon, R. [1 ,2 ]
Sam, Y. M. [2 ]
Osman, J. H. S. [2 ]
Tomari, R. [1 ]
Zakaria, W. N. Wan [1 ]
机构：
[1] Univ Tun Hussein Onn Malaysia, Adv Mechatron Res Grp ADMIRE, Fac Elect & Elect Engn, Dept Mechatron & Robot Engn, Batu Pahat 86400, Johor, Malaysia
[2] Univ Teknol Malaysia, Fac Elect Engn, Dept Control & Instrumentat Engn, Skudai 81310, Johor, Malaysia
来源：
9TH INTERNATIONAL CONFERENCE ON ROBOTIC, VISION, SIGNAL PROCESSING AND POWER APPLICATIONS: EMPOWERING RESEARCH AND INNOVATION | 2017年 / 398卷
关键词：
Multirate output feedback; Sliding mode control; Inverted pendulum system;
D O I：
10.1007/978-981-10-1721-6_45
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 presents the application of multirate output feedback with discrete time sliding mode control (SMC) for controlling the inverted pendulum system. The SMC are well known as completely insensitive to parameter variations and external disturbance. Normally, in order to design controller, the state feedback from the entire state variable is utilized. However not all of the state feedbacks are always available. Therefore, the concept of the multirate output feedback (MROF) in which the output state that are always available at any situation is proposed. The nominal plant model for inverted pendulum system is fourth order with additional of external disturbance. Simulation results verify the proposed controller's performance even though nonlinearity present in the inverted pendulum system.
引用
收藏
页码：419 / 426
页数：8
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