Robustness of Final-State Control Performance by Means of Feedforward Input under Parameter Variation(Verification in Positioning Control of a Cart and Pendulum System)

Hidekazu Nishimura, Koji Funaki, Takayoshi Totani

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)

Abstract

This paper shows an application of the already proposed final-state control method to a cart and pendulum system and demonstrates that the method is useful for positioning control of mechanical systems with a flexible mode. In numerical calculations and experiments, we assume that the effective length of the pendulum changes, and the settling characteristics and the robustness of the final-state control performance under this parameter variation are investigated. It is shown that the finahstate control performance with the feedforward input is better than that without it within a certain range of parameter variation, and that the use of the feedforward input designed by considering the parameter variation is effective in improving the robustness.

Original languageEnglish
Pages (from-to)2938-2944
Number of pages7
JournalTransactions of the Japan Society of Mechanical Engineers Series C
Volume61
Issue number587
DOIs
Publication statusPublished - 1995 Jan 1
Externally publishedYes

Keywords

  • Feedforward Input
  • Final-State Control
  • Optimal Control
  • Parameter Variation
  • Positioning Control
  • Robustness

ASJC Scopus subject areas

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

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