Structured Robust Stability Analysis Of An Inverted Pendulum System With A Fixedfeedback

Home Page
About
Submit A Journal
Submit A Conference
Submit Paper/Book
- Submit a Preprint
- Submit a Book
Contact

Eskişehir Osmangazi Üniversitesi Mühendislik ve Mimarlık Fakültesi Dergisi
Volume:18 Issue:2
Structured Robust Stability Analysis Of An Inverted Pendulum System With A Fixedfeedback

Structured Robust Stability Analysis Of An Inverted Pendulum System With A Fixedfeedback

Authors : Ahmet YAZICI, Abdurrahman KARAMANCIOĞLU

Pages : 55-70

View : 51 | Download : 7

Publication Date : 2005-12-31

Article Type : Research Paper

Abstract :Robust stability analysis of inverted pendulum system with a fixed linear quadratic feedback is carried out using μ analysis tools. A mathematical model of inverted pendulum system is presented and linearized about the desired equilibrium point. A linear quadratic control feedback matrix is used in the configuration of the nominal inverted pendulum system for its stabilization. After this, uncertainties in the inverted pendulum with a fixed feedback, is modeled in linear fractional transformation form , which is suitable for structured singular value computation. Both parametric and modeling uncertainties are considered in the inverted pendulum system. After deriving out uncertain system model, mixed μ analysis method which is a structured uncertainty analysis method, is used to compute the uncertainty bound that does not cause instability of the inverted pendulum under feedback. A simulation test for validity of the results is provided.
Keywords : Structured singular value, Uncertainty, Robustness, Inverted pendulum

ORIGINAL ARTICLE URL

* There may have been changes in the journal, article,conference, book, preprint etc. informations. Therefore, it would be appropriate to follow the information on the official page of the source. The information here is shared for informational purposes. IAD is not responsible for incorrect or missing information.