Stabilizing Control of Flexible Inverted Pendulum by Means of Ha Control

Hidekazu Nishimura, Osamu Ohnuki, Takayoshi Totani, Kenzo Nonami

研究成果: Article査読

3 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)2701-2706
ページ数6
ジャーナルtransactions of the japan society of mechanical engineers series c
59
565
DOI
出版ステータスPublished - 1993
外部発表はい

ASJC Scopus subject areas

  • 材料力学
  • 機械工学
  • 産業および生産工学

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