Stabilizing and positioning control of inverted flexible pendulum by means of servo H8 control with partial-state feedback

Hidekazu Nishimura, Osamu Ohnuki, Kenzo Nonami, Takayoshi Totani

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this study we formulate H°°oo 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 - Vibration Control, Analysis, and Identification
PublisherAmerican Society of Mechanical Engineers (ASME)
Pages537-544
Number of pages8
ISBN (Electronic)9780791897669
DOIs
Publication statusPublished - 1995
EventASME 1995 Design Engineering Technical Conferences, DETC 1995, collocated with the ASME 1995 15th International Computers in Engineering Conference and the ASME 1995 9th Annual Engineering Database Symposium - Boston, United States
Duration: 1995 Sep 171995 Sep 20

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume3C-1995

Conference

ConferenceASME 1995 Design Engineering Technical Conferences, DETC 1995, collocated with the ASME 1995 15th International Computers in Engineering Conference and the ASME 1995 9th Annual Engineering Database Symposium
CountryUnited States
CityBoston
Period95/9/1795/9/20

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modelling and Simulation

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