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Adaptive State Feedback Control for Nonlinear Rotary Inverted Pendulum System using Similarity Transformation Method: Implementation of Real-Time Experiment  

Cho, Hyun-Cheol (울산과학대학 전기전자학부)
Lee, Young-Jin (한국폴리텍 항공대학 항공전기과)
Lee, Kwon-Soon (동아대학교 전기공학과)
Koo, Kyung-Wan (호서대학교 국방과학기술학과)
Publication Information
The Transactions of the Korean Institute of Electrical Engineers P / v.58, no.2, 2009 , pp. 130-135 More about this Journal
Abstract
In recent years, researches on rotary inverted pendulum control systems have been significantly focused due their highly nonlinear dynamics and complicated geometric structures. This paper presents a novel control approach for such systems by means of similarity transformation theory. At first, we represent nonlinear system dynamics to the controllability-formed state space model including a time-varying parameter vector. We establish the state-feedback control configuration based on the transformed model and derive an adaptive control law for adjusting desired characteristic equation. Numerical analysis is achieved to evaluate our control method and demonstrate its superiority by comparing it to the traditional control strategy. Furthermore, real-time control experiment is carried out to test its practical reliability.
Keywords
Rotary Inverted Pendulum; Similarity Transformation; State Feedback; Real-Time Adaptive Control Experiment;
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