Analysis and design of controllers for a double inverted pendulum

Hans Henrik Niemann, J K Poulsen

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Abstract

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.
Original languageEnglish
Title of host publicationProceedings of the American Control Conference, 2003.
Volume4
PublisherIEEE
Publication date2003
ISBN (Print)0-7803-7896-2
Publication statusPublished - 2003
EventProceedings of the American Control Conference -
Duration: 1 Jan 2003 → …

Conference

ConferenceProceedings of the American Control Conference
Period01/01/2003 → …

Bibliographical note

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