Structured singular value Uncertainty Robustness Inverted pendulum
Robust stability analysis of inverted pendulum system with a fixed linear quadratic feedback is carried out using μ analysis tools. A mathematical model of inverted pendulum system is presented and linearized about the desired equilibrium point. A linear quadratic control feedback matrix is used in the configuration of the nominal inverted pendulum system for its stabilization. After this, uncertainties in the inverted pendulum with a fixed feedback, is modeled in linear fractional transformation form , which is suitable for structured singular value computation. Both parametric and modeling uncertainties are considered in the inverted pendulum system. After deriving out uncertain system model, mixed μ analysis method which is a structured uncertainty analysis method, is used to compute the uncertainty bound that does not cause instability of the inverted pendulum under feedback. A simulation test for validity of the results is provided.
Structured singular value Uncertainty Robustness Inverted pendulum
Konular | Elektrik Mühendisliği |
---|---|
Bölüm | Araştırma Makaleleri |
Yazarlar | |
Yayımlanma Tarihi | 31 Aralık 2005 |
Kabul Tarihi | 1 Temmuz 2005 |
Yayımlandığı Sayı | Yıl 2005 Cilt: 18 Sayı: 2 |