A physical control problem is studied with the μ methodology. The issues of modelling, uncertainty modelling, performance specification, controller design and laboratory implementation are discussed. The laboratory experiment is a double inverted pendulum placed on a cart. The limitations in the system with respect to performance are the limitation in the control signal and the limitation of the movement of the chart. It is shown how these performance limitation will effect the design of a μ controller for the system.
|Title of host publication||Proceedings of the American Control Conference, 2003.|
|Publication status||Published - 2003|
|Event||Proceedings of the American Control Conference - |
Duration: 1 Jan 2003 → …
|Conference||Proceedings of the American Control Conference|
|Period||01/01/2003 → …|