Proportional-integral-plus (PIP) control of an inverted pendulum system
Proportional-integral-plus (PIP) control of an inverted pendulum system
- Author(s): R. Dixon ; P.C. Young ; A. Chotai ; J. Shao
- DOI: 10.1049/cp:19960628
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- Author(s): R. Dixon ; P.C. Young ; A. Chotai ; J. Shao Source: UKACC International Conference on Control. Control '96, 1996 p. 650 – 655
- Conference: UKACC International Conference on Control. Control '96
- DOI: 10.1049/cp:19960628
- ISBN: 0 85296 666 0
- Location: Exeter, UK
- Conference date: 2-5 Sept. 1996
- Format: PDF
This paper discusses the design and implementation of an optimal proportional-integral-plus (PIP) controller for a large inverted pendulum system. Utilising the true digital control (TDC) approach to control systems, a data-based model of the unstable nonminimum phase open-loop system is used for linear quadratic (LQ) optimal design of the PIP controller, which out-performs a more conventional state variable feedback controller based on a continuous-time, mechanistic model of the system.
Inspec keywords: digital control; two-term control; control system synthesis; discrete time systems; linear quadratic control
Subjects: Control system analysis and synthesis methods; Optimal control; Discrete control systems; Control engineering computing
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