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Application of coefficient diagram method for rotational inverted pendulum control
Author(s)
Date Issued
January 1, 2004
Type
Conference Paper
Abstract
In this paper, a design of the augmented state feedback controller by using the concept of Coefficient Diagram Method (CDM) for a servo type of the rotational inverted pendulum system is presented. An Integrator is augmented to the system due to the responses exhibiting steady-state error. In order to apply the CDM method, the augmented system must be firstly linearized and converted into controllable canonical form by a transform matrix. Then a feedback gain matrix in sense of CDM can be obtained. One can observe that the design procedure of the proposed controller is easy compared to other methods. The experimental results are shown in order to verify the effectiveness of the controller. © 2004 IEEE.
Citation
2004 8th International Conference on Control Automation Robotics and Vision Icarcv, 3, 1769-1773, 2004