Applying Delay-dependent Stability Criteria to the Control of an Inverted Pendulum with Input Delay
碩士 === 國立臺灣大學 === 電機工程學研究所 === 93 === In this thesis, several delay-dependent stability criteria are used to analyze the stability of an inverted pendulum system with input delay. The conservatism of these stability criteria is discussed. A delay-dependent stability criterion in terms of linear...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2005
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| Online Access: | http://ndltd.ncl.edu.tw/handle/29008373951931276032 |
| Summary: | 碩士 === 國立臺灣大學 === 電機工程學研究所 === 93 === In this thesis, several delay-dependent stability criteria are used to analyze the stability of an inverted pendulum system with input delay. The conservatism of these stability criteria is discussed.
A delay-dependent stability criterion in terms of linear matrix inequalities is modified to become a state feedback controller design method for stabilizing the inverted pendulum system with input delay. Some constraints are added to restrict the solution set so that the resultant state feedback controller can deal with the friction factor in the system. The experiment results show that the proposed method is effective.
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