Robustness of final-state control performance by means of feedforward input under parameter variation (verification of positioning control of a cart and pendulum system)

Hidekazu Nishimura, Koji Funaki, Takayoshi Totani

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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 final-state 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
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume61
Issue number587
Publication statusPublished - 1995 Jul
Externally publishedYes

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ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

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