Robust control of a Furuta pendulum

Chung Huang Yu, Fu Cheng Wang*, Yu Ju Lu

*此作品的通信作者

研究成果: Conference contribution同行評審

7 引文 斯高帕斯(Scopus)

摘要

This paper designs robust controllers for a Furuta pendulum, and verifies the system performance and robustness by experiments. First, we derive the system's transfer functions, and design a standard H robust controller for balancing control. Because lower-order controllers are preferable for hardware implementation, we then apply fixed-order robust control techniques to simplify the controller structure. The effects of these controllers are experimentally compared. Finally, we designed some experiments to test the robustness of these controllers. From the results, the H fixed-order controller is shown to be effective.

原文English
主出版物標題Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
發行者Society of Instrument and Control Engineers (SICE)
頁面2559-2563
頁數5
ISBN(列印)9784907764364
出版狀態Published - 8月 2010

出版系列

名字Proceedings of the SICE Annual Conference

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