Stabilizing control of flexible inverted pendulum by means of H control

Hidekazu Nishimura, Osamu Ohnuki, Takayoshi Totani, Kenzo Nonami

Research output: Contribution to journalArticle

2 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 control theory. Since the control system has an eigenvalue of zero, the design method of H 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 languageEnglish
Pages (from-to)2701-2706
Number of pages6
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume59
Issue number565
Publication statusPublished - 1993 Sep
Externally publishedYes

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Pendulums
Controllers
Control theory
Control systems
Experiments
Robust stability

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

Stabilizing control of flexible inverted pendulum by means of H control. / Nishimura, Hidekazu; Ohnuki, Osamu; Totani, Takayoshi; Nonami, Kenzo.

In: Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 59, No. 565, 09.1993, p. 2701-2706.

Research output: Contribution to journalArticle

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