Analysis and design of controllers for a double inverted pendulum

Hans Henrik Niemann; J K Poulsen

Analysis and design of controllers for a double inverted pendulum

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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 language	English
Title of host publication	Proceedings of the American Control Conference, 2003.
Volume	4
Publisher	IEEE
Publication date	2003
ISBN (Print)	0-7803-7896-2
Publication status	Published - 2003
Event	2003 American Control Conference - Denver, United States Duration: 4 Jun 2003 → 6 Jun 2003

Conference

Conference	2003 American Control Conference
Country/Territory	United States
City	Denver
Period	04/06/2003 → 06/06/2003

Bibliographical note

Copyright: 2003 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE

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title = "Analysis and design of controllers for a double inverted pendulum",

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.",

author = "Niemann, {Hans Henrik} and Poulsen, {J K}",

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AU - Poulsen, J K

N1 - Copyright: 2003 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE

PY - 2003

Y1 - 2003

N2 - 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.

AB - 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.

M3 - Article in proceedings

SN - 0-7803-7896-2

VL - 4

BT - Proceedings of the American Control Conference, 2003.

PB - IEEE

T2 - 2003 American Control Conference

Y2 - 4 June 2003 through 6 June 2003

ER -

Analysis and design of controllers for a double inverted pendulum

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