control of parallel-type double inverted pendulum system
碩士 === 國立交通大學 === 控制工程系 === 84 === This thesis is concerned with the analysis and control of a specific type of pendulum-cart mechanical system: parallel-type double inverted pendulum system. Detailed analysis of controllability and stability is presented...
| Main Authors: | , |
|---|---|
| Other Authors: | |
| Format: | Others |
| Language: | zh-TW |
| Published: |
1996
|
| Online Access: | http://ndltd.ncl.edu.tw/handle/23432671219615228623 |
| Summary: | 碩士 === 國立交通大學 === 控制工程系 === 84 === This thesis is concerned with the analysis and control of a
specific type of pendulum-cart mechanical system: parallel-type
double inverted pendulum system. Detailed analysis of
controllability and stability is presented. The control goal of
the system is " both pendulums are stabilized at the upright
position and the cart follows the reference position". The
sliding mode controller (SMC) and the linear state feedback
controller (LSFC) are developed to obtain the desired
performance. The design process and simulation results are
included and analyzed. The experimental system is constructed
and its control system is implemented by a 32-bit personal
computer. The feasibility of the discretized system with SMC or
LSFC are also demonstrated.
|
|---|