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http://dx.doi.org/10.5916/jkosme.2007.31.4.462

Control of Inverted Pendulum Systems Using a State Observer  

Lee, Yun-Hyung (한국해양대학교 대학원 메카트로닉스공학과)
Ahn, Jong-Kap (한국항만연수원)
Jin, Gang-Gyoo (한국해양대학교 IT공학부)
So, Myung-Ok (한국해양대학교 선박전자기계공학부)
Publication Information
Journal of Advanced Marine Engineering and Technology / v.31, no.4, 2007 , pp. 462-467 More about this Journal
Abstract
The design and synthesis of a state feedback controller assumes the feedback of all state variables of the system. However, some state variables are not physical quantifies so that sensors may not be available, or may be too expensive to measure. Hence, a state observer can be an alternative to estimate unmeasurable state variables. This paper therefore presents a scheme for state observer-based stabilization control of inverted pendulum systems. The feedback gain matrices of both the state feedback controller and the state observer are tuned by real-coded genetic algorithms(RCGAs) such that the given performance indices are minimized. The proposed method is demonstrated through simulations.
Keywords
Inverted pendulum; PI-type State feedback control; Reduced-order observer; RCGA;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
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