Stabilizing and positioning control of inverted flexible pendulum by means of H servo control with partial-state feedback

Hidekazu Nishimura, Osamu Ohnuki, Kenzo Nonami, Takayoshi Totani

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

In this study we formulate H servo compensator where displacement signals are used as the controlled variables and their time derivatives are used as partial-state feedback signals for stabilizing and positioning control of a cart and inverted flexible pendulum system. The feedback loop of the part of the state variables except the controlled variables is added to the feedback loop of the controlled variables in the design of the H compensator. Through this formulation the order of the designed compensator is reduced by the order of the weighting functions for the time derivative signals. By numerical calculations and experiments, we investigate the settling characteristics and the robust stability against a disturbance to the pendulum with two kinds of controllers, the output feedback controller by the displacement feedback and the output feedback controller adding the cart velocity feedback. It is shown that although the displacement-output feedback controller has a big overshoot in the step response and the positioning of the cart is difficult, by means of the partial-state feedback controller with a cart velocity feedback the overshoot can be reduced and stable positioning control of the cart is possible. Also it is verified that the servo compensator is superior to the regulator-based compensator in the settling characteristics.

Original languageEnglish
Title of host publication15th Biennial Conference on Mechanical Vibration and Noise
EditorsK.W. Wang, B. Yang, J.Q. Sun, K. Seto, K. Yoshida, al et al
Edition3 Pt C
Publication statusPublished - 1995 Dec 1
Externally publishedYes
EventProceedings of the 1995 ASME Design Engineering Technical Conference. Part C - Boston, MA, USA
Duration: 1995 Sep 171995 Sep 20

Publication series

NameAmerican Society of Mechanical Engineers, Design Engineering Division (Publication) DE
Number3 Pt C
Volume84

Other

OtherProceedings of the 1995 ASME Design Engineering Technical Conference. Part C
CityBoston, MA, USA
Period95/9/1795/9/20

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ASJC Scopus subject areas

  • Engineering(all)

Cite this

Nishimura, H., Ohnuki, O., Nonami, K., & Totani, T. (1995). Stabilizing and positioning control of inverted flexible pendulum by means of H servo control with partial-state feedback. In K. W. Wang, B. Yang, J. Q. Sun, K. Seto, K. Yoshida, & A. et al (Eds.), 15th Biennial Conference on Mechanical Vibration and Noise (3 Pt C ed.). (American Society of Mechanical Engineers, Design Engineering Division (Publication) DE; Vol. 84, No. 3 Pt C).