Robust stabilization of a triple inverted pendulum-cart

Author: Medrano-Cerda, G. A.

Source: International Journal of Control, Volume 68, Number 4, 10 November 1997 , pp. 849-866(18)

Publisher: Taylor and Francis Ltd

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Abstract:

A design of a robust computer control system to balance a triple pendulum mounted on a moving cart is considered. The controller is based on a discretetime linear regulator theory implemented via a 'robust' reduced order observer. The use of integral action eliminates the effects of small constant sensor offsets and rail inclinations. The relative stability and disturbance attenuation properties are investigated using frequency response methods. Experimental results are included.

Document Type: Research Article

DOI: http://dx.doi.org/10.1080/002071797223361

Publication date: November 10, 1997

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