Controller design
The controller synthesis is probably the most difficult and time consuming stage of embedded control system design. In this chapter, we present the design and analysis of five different discrete-time controllers which may be implemented successfully in embedded systems. To compare the controller properties, they are applied in single precision to steer one and the same system, namely, the cart-pendulum system presented in Chapter 2. This system has some peculiarities which lead to difficulties in the implementation of design methods. One of our primary goals is to investigate the behavior of the corresponding closed-loop systems in presence of plant uncertainty.
Controller design, Page 1 of 2
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