Conference proceeding
Design of a nonlinear H/sub /spl infin// controller for the inverted pendulum system
Proceedings of the 1998 IEEE International Conference on Control Applications (Cat. No.98CH36104), v 2, pp 699-703
1998
Abstract
A well-known control application, the inverted pendulum system, is formulated as a nonlinear H/sub /spl infin// control problem. In order to construct a nonlinear H/sub /spl infin// controller, it is essential to find a solution for the Hamilton-Jacobi equation (HJE). A successive algorithm is employed to obtain an approximate solution of the HJE and then a nonlinear H/sub /spl infin// controller is constructed. Simulations of the closed-loop pendulum responses for both the nonlinear and the linear H/sub /spl infin// controllers are performed and compared. It is found that the nonlinear H/sub /spl infin// controller has better performance and robustness than the linear controller.
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Details
- Title
- Design of a nonlinear H/sub /spl infin// controller for the inverted pendulum system
- Creators
- Shr-Shiung Hu - Drexel UniversityBor-Chin Chang
- Publication Details
- Proceedings of the 1998 IEEE International Conference on Control Applications (Cat. No.98CH36104), v 2, pp 699-703
- Conference
- 1998 IEEE International Conference on Control Applications
- Publisher
- IEEE
- Number of pages
- 1
- Resource Type
- Conference proceeding
- Language
- English
- Academic Unit
- Mechanical Engineering and Mechanics
- Other Identifier
- 991019205314204721