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...
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ndltd-TW-084NCTU03270122016-02-05T04:16:34Z http://ndltd.ncl.edu.tw/handle/23432671219615228623 control of parallel-type double inverted pendulum system 雙平行倒立單擺系統之控制 Chu, Sheng-Renn 朱勝任 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. Chen Yon-Ping 陳永平 1996 學位論文 ; thesis 60 zh-TW |
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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.
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author2 |
Chen Yon-Ping |
author_facet |
Chen Yon-Ping Chu, Sheng-Renn 朱勝任 |
author |
Chu, Sheng-Renn 朱勝任 |
spellingShingle |
Chu, Sheng-Renn 朱勝任 control of parallel-type double inverted pendulum system |
author_sort |
Chu, Sheng-Renn |
title |
control of parallel-type double inverted pendulum system |
title_short |
control of parallel-type double inverted pendulum system |
title_full |
control of parallel-type double inverted pendulum system |
title_fullStr |
control of parallel-type double inverted pendulum system |
title_full_unstemmed |
control of parallel-type double inverted pendulum system |
title_sort |
control of parallel-type double inverted pendulum system |
publishDate |
1996 |
url |
http://ndltd.ncl.edu.tw/handle/23432671219615228623 |
work_keys_str_mv |
AT chushengrenn controlofparalleltypedoubleinvertedpendulumsystem AT zhūshèngrèn controlofparalleltypedoubleinvertedpendulumsystem AT chushengrenn shuāngpíngxíngdàolìdānbǎixìtǒngzhīkòngzhì AT zhūshèngrèn shuāngpíngxíngdàolìdānbǎixìtǒngzhīkòngzhì |
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1718180637434707968 |