A design of gain-scheduled servo system considering actuator saturation (experimental verification for a cart and inverted pendulum system)

Noriaki Itagaki, Hidekazu Nishimura, Kiyoshi Takagi

Research output: Contribution to journalArticle

1 Citation (Scopus)


In this paper, we propose a control system design method in consideration of actuator saturation. By using the hyperbolic tangential function as a saturation description, we introduce both the time derivative of control input and the anti-windup control structure with feedback of the error between the input and the output of the saturation function. Furthermore, we formulate a linear parameter varying system to design the gain scheduled controller. The effectiveness of our proposed method is verified by carrying out experiments of positioning control for a cart and inverted pendulum system.

Original languageEnglish
Pages (from-to)1301-1308
Number of pages8
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number5
Publication statusPublished - 2003 May 1



  • Actuator Saturation
  • Anti-Windup Control
  • Gain Scheduled Control
  • Unstable System

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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