Low-Pass Filter Property of an Input-Dimensional Output Feedback Passification Controller for Rotary Inverted Pendulum

Young Ik SON; Nam Hoon JO; Hyungbo SHIM; Goo-Jong JEONG

doi:10.1587/transfun.E92.A.2133

IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences

Online ISSN : 1745-1337
Print ISSN : 0916-8508

Regular Section

Low-Pass Filter Property of an Input-Dimensional Output Feedback Passification Controller for Rotary Inverted Pendulum

Young Ik SON, Nam Hoon JO, Hyungbo SHIM, Goo-Jong JEONG

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Keywords: passivity, output feedback passification, low-order controller, low-pass filter, rotary inverted pendulum

JOURNAL RESTRICTED ACCESS

2009 Volume E92.A Issue 8 Pages 2133-2136

DOI https://doi.org/10.1587/transfun.E92.A.2133

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Abstract

A rotary inverted pendulum is stabilized by a single first order dynamic output feedback system. Numerical simulations and experimental results show that the proposed control law has low-pass filter property as well as it can successfully replace the velocity measurements for LQR control law.

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