IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences
Online ISSN : 1745-1337
Print ISSN : 0916-8508
Regular Section
Control of the Cart-Pendulum System Based on Discrete Mechanics — Part II: Transformation to Continuous-Time Inputs and Experimental Verification —
Tatsuya KAIKensuke BITOTakeshi SHINTANI
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2012 Volume E95.A Issue 2 Pages 534-541

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Abstract

In this paper, we consider a stabilization problem for the cart-pendulum system based on discrete mechanics, which is known as a good discretizing method for mechanical systems and has not been really applied to control theory. First, the continuous and discrete cart-pendulum systems are explained. We next propose a transformation method that converts a discrete-time input derived from the discrete-time optimal regulator theory into a continuous-time zero-order hold input, and carry out some simulations on stabilization of the cart-pendulum system by the transformation method. Then, we apply not only our proposed method but also existing methods to an experimental laboratory of the cart-pendulum system and perform some experiments in order to verify the availability of the proposed method.

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© 2012 The Institute of Electronics, Information and Communication Engineers
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