Structured Robust Stability Analysis Of An Inverted Pendulum System With A Fixedfeedback

Ahmet YAZICI; Abdurrahman KARAMANCIOĞLU

Makale detayları

Structured Robust Stability Analysis Of An Inverted Pendulum System With A Fixedfeedback

Yazarlar:

Ahmet YAZICI | Abdurrahman KARAMANCIOĞLU

Yayıncı:

Eskişehir Osmangazi University

Ana Başlıklar:

Uygulamalı fizik

Dergi:

Journal of Engineering and Architecture Faculty of Eskisehir Osmangazi University 2005 Vol.18 Issue 2, pp.55-70

Belge Tipi:

Makale

Yayın Tarihi:

12/2005

Belge Dili:

Türkçe

Document ID (Org No.):

2000416612

eISSN:

2630-5712

Özet:

 


Robust stability analysis of inverted pendulum system with a fixed linear quadratic feedback is carried out using μ analysis tools. A mathematical model of inverted pendulum system is presented and linearized about the desired equilibrium point. A linear quadratic control feedback matrix is used in the configuration of the nominal inverted pendulum system for its stabilization. After this, uncertainties in the inverted pendulum with a fixed feedback, is modeled in linear fractional transformation form , which is suitable for structured singular value computation. Both parametric and modeling uncertainties are considered in the inverted pendulum system. After deriving out uncertain system model, mixed μ analysis method which is a structured uncertainty analysis method, is used to compute the uncertainty bound that does not cause instability of the inverted pendulum under feedback. A simulation test for validity of the results is provided.

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Makale detayları

Structured Robust Stability Analysis Of An Inverted Pendulum System With A Fixedfeedback

Yazarlar: Ahmet YAZICI | Abdurrahman KARAMANCIOĞLU

Yayıncı: Eskişehir Osmangazi University

Ana Başlıklar: Uygulamalı fizik

Dergi: Journal of Engineering and Architecture Faculty of Eskisehir Osmangazi University 2005 Vol.18 Issue 2, pp.55-70

Belge Tipi: Makale

Yayın Tarihi: 12/2005

Belge Dili: Türkçe

Document ID (Org No.): 2000416612

eISSN: 2630-5712

Sayı

Yazarlar:

Ahmet YAZICI | Abdurrahman KARAMANCIOĞLU

Yayıncı:

Eskişehir Osmangazi University

Ana Başlıklar:

Uygulamalı fizik

Dergi:

Journal of Engineering and Architecture Faculty of Eskisehir Osmangazi University 2005 Vol.18 Issue 2, pp.55-70

Belge Tipi:

Makale

Yayın Tarihi:

12/2005

Belge Dili:

Türkçe

Document ID (Org No.):

2000416612

eISSN:

2630-5712