Robust tracking of an inverted pendulum via a new linear exact model matching technique

Paraskevopoulos, PN; Tsirikos, AS; Karagianni, EA

dc.contributor.author	Paraskevopoulos, PN	en
dc.contributor.author	Tsirikos, AS	en
dc.contributor.author	Karagianni, EA	en
dc.date.accessioned	2014-03-01T02:41:07Z
dc.date.available	2014-03-01T02:41:07Z
dc.date.issued	1995	en
dc.identifier.issn	01912216	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/30375
dc.subject	Analytic Solution	en
dc.subject	Feedback Control	en
dc.subject	Inverted Pendulum	en
dc.subject	lyapunov function	en
dc.subject	Model Matching	en
dc.subject	Nonlinear System	en
dc.subject	Parameter Uncertainty	en
dc.subject	Partial Differential Equation	en
dc.subject	Robust Design	en
dc.subject	State Feedback Control	en
dc.subject	First Order	en
dc.subject	Input Output	en
dc.subject.other	Closed loop control systems	en
dc.subject.other	Eigenvalues and eigenfunctions	en
dc.subject.other	Feedback control	en
dc.subject.other	Linearization	en
dc.subject.other	Lyapunov methods	en
dc.subject.other	Mathematical models	en
dc.subject.other	Nonlinear systems	en
dc.subject.other	Partial differential equations	en
dc.subject.other	Pendulums	en
dc.subject.other	Problem solving	en
dc.subject.other	Closed loop systems	en
dc.subject.other	Inverted pendulum	en
dc.subject.other	Linear exact model matching	en
dc.subject.other	Linear system	en
dc.subject.other	Robust tracking	en
dc.subject.other	Third order nonlinear system	en
dc.subject.other	Robustness (control systems)	en
dc.title	Robust tracking of an inverted pendulum via a new linear exact model matching technique	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/CDC.1995.480381	en
heal.identifier.secondary	http://dx.doi.org/10.1109/CDC.1995.480381	en
heal.publicationDate	1995	en
heal.abstract	In this paper a new approach to the robust asymptotic output tracking of an inverted pendulum is presented. The inverted pendulum is described by a third order nonlinear system. The proposed approach is as follows: First, we determine a static state feedback control law which solves the linear exact model matching (LEMM) problem resulting in an input - output (i/o) linearized closed - loop system. Second, in case where there exists a parameter uncertainty in the inverted pendulum model, we design a robust output tracking controller for the perturbed i/o linearized closed - loop system. The LEMM problem is solved using a new LEMM technique. This technique reduces the problem of finding the control law to that of solving a system of first order partial differential equations. Based on these equations, the general analytical solution for the feedback control law is derived. The robust design consists in determining the input signal of the perturbed i/o linearized closed - loop system as a function of the state vector based on the construction of an appropriate Lyapunov function.	en
heal.publisher	IEEE, Piscataway, NJ, United States	en
heal.journalName	Proceedings of the IEEE Conference on Decision and Control	en
dc.identifier.doi	10.1109/CDC.1995.480381	en
dc.identifier.volume	2	en
dc.identifier.spage	1676	en
dc.identifier.epage	1683	en