Stabilizing Control of Flexible Inverted Pendulum by Means of Ha Control

Hidekazu Nishimura; Osamu Ohnuki; Takayoshi Totani; Kenzo Nonami

doi:10.1299/kikaic.59.2701

Stabilizing Control of Flexible Inverted Pendulum by Means of H^a Control

Hidekazu Nishimura, Osamu Ohnuki, Takayoshi Totani, Kenzo Nonami

Research output: Contribution to journal › Article › peer-review

3 Citations (Scopus)

Abstract

This study shows that the stabilizing and positioning control of a flexible inverted pendulum of which the pivot is mounted on a cart is experimentally possible by means of H^s control theory. Since the control system has an eigenvalue of zero, the design method of H^s control utilizing a settling function is applied, and one controller is designed with consideration of the rigid and the flexible first modes and another is designed neglecting all flexible modes. By numerical calculations and experiments, we have investigated the positioning control characteristics and the robust stability against disturbance to the pendulum of each controller, and it has been made clear that the robust stability of the controller designed considering the flexible first mode is superior to the one designed neglecting all flexible modes.

Original language	English
Pages (from-to)	2701-2706
Number of pages	6
Journal	transactions of the japan society of mechanical engineers series c
Volume	59
Issue number	565
DOIs	https://doi.org/10.1299/kikaic.59.2701
Publication status	Published - 1993
Externally published	Yes

Keywords

Flexible Inverted Pendulum
H Control
Positioning Control
Robust Control
Spillover
Stability
Vibration Control

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

Access to Document

10.1299/kikaic.59.2701

Cite this

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abstract = "This study shows that the stabilizing and positioning control of a flexible inverted pendulum of which the pivot is mounted on a cart is experimentally possible by means of Hs control theory. Since the control system has an eigenvalue of zero, the design method of Hs control utilizing a settling function is applied, and one controller is designed with consideration of the rigid and the flexible first modes and another is designed neglecting all flexible modes. By numerical calculations and experiments, we have investigated the positioning control characteristics and the robust stability against disturbance to the pendulum of each controller, and it has been made clear that the robust stability of the controller designed considering the flexible first mode is superior to the one designed neglecting all flexible modes.",

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AU - Totani, Takayoshi

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AB - This study shows that the stabilizing and positioning control of a flexible inverted pendulum of which the pivot is mounted on a cart is experimentally possible by means of Hs control theory. Since the control system has an eigenvalue of zero, the design method of Hs control utilizing a settling function is applied, and one controller is designed with consideration of the rigid and the flexible first modes and another is designed neglecting all flexible modes. By numerical calculations and experiments, we have investigated the positioning control characteristics and the robust stability against disturbance to the pendulum of each controller, and it has been made clear that the robust stability of the controller designed considering the flexible first mode is superior to the one designed neglecting all flexible modes.

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