Design of State-feedback Controller by Pole Placement for a Coupled Set of Inverted Pendulums

摘要：

This paper presents controller design based on state-space pole-placement method for a non-linear dynamic system described by a double-parallel inverted pendulum i.e. two identical inverted pendulums on carts coupled by a spring. The state space model of this multivariable, dynamic, unstable and strongly coupled system developed elsewhere is taken and controller design task using pole placement method is carried out. The designed controller is tested on a real time control system. The experimental results verify the significance and performance of the designed controller both in terms of simulations based experiments and on a real laboratory scale system.

关键词： state space pole-placement double-parallel inverted pendulum

作者: Yan Lan Fei Minrui

作者单位: Shanghai Key Laboratory of Power Station Automation Technology,School of Mechatronics Engineering and Automation,Shanghai University,Shanghai 200072,China

会议类型: 国际会议

会议名称: 2011 10th International Conference on Electronic Measurement & Instruments(第十届电子测量与仪器国际会议 ICEMI2011)

会议地点: 成都

会议语种:英文

页码: 789-793

在线出版日期: 2011-08-16（万方平台首次上网日期，不代表论文的发表时间）