LMI-based control design for balancing and attitude stabilization of inverted pendulums
This chapter explores the dynamic modeling and feedback stabilization of different types of inverted pendulums (IPs). It contains a theoretical analysis of the system dynamics and control methods, as well as a summary of MATLAB®/Simulink® simulation results. There are two primary objectives of this chapter: 1. To provide technical results pertaining to robust control-design approaches using convex optimization methods over linear-matrix inequalities. The design approaches include linear quadratic regulator (LQR), linear quadratic regulator with integral gain (LQRI), model-predictive control, H2 control, H∞ control and multiobjective state feedback. 2. To demonstrate the application of these approaches to the balancing and attitude stabilization of IP systems including pendulums on cart, double and triple link systems on pivot, rotational double IP and IP-type assistant robot.
LMI-based control design for balancing and attitude stabilization of inverted pendulums, Page 1 of 2
< Previous page Next page > /docserver/preview/fulltext/books/ce/pbce111e/PBCE111E_ch14-1.gif /docserver/preview/fulltext/books/ce/pbce111e/PBCE111E_ch14-2.gif