• Title/Summary/Keyword: Inverted

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Design and Implementation of LG-Servo Controller for Rotational Inverted Pendulum System Using Optimization Method (최적화 기법에 의한 회전형 역진자 시스템의 LQ-Servo 제어기 설계 및 구현)

  • Lee, Kang-Min;Yang, Ji-Hoon;Suh, Byung-Suhl
    • Proceedings of the KIEE Conference
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    • 2004.11c
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    • pp.79-81
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    • 2004
  • LQ-Servo controller inherits the stability-robustness from rational LQR structure and also, satisfies performance-robustness that is lacking in LQR structure by importing partial output feedback. In this paper, LQ-Servo controller is suggested for strengthening the performance-robustness. For this, Several executings are effectively performed by implementing to the rotational inverted pendulum system.

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Nonlinear Control of an Input-Constrained Inverted Pendulum (입력제약을 고려한 도립진자의 비선형 제어)

  • Jung, Jae-Hoon
    • Proceedings of the KIEE Conference
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    • 2003.11b
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    • pp.119-122
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    • 2003
  • The aim of this paper is to propose a nonlinear controller for a single cart-type inverted pendulum using energy-based control scheme. Using a nonlinear model relating the angular position and velocity to the control input and a nonlinear controller is designed to regulate the angular position and velocity in the presence of input constraints. It is proved that the angular position and velocity converge to zero.

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A study on Fuzzy-PID Control of a Straight Line Type Inverted Pendulum (직선형 도립 진자의 퍼지-PID 제어에 관한 연구)

  • Kim, J.M.;Lee, S.G.
    • Journal of the Korean Society for Precision Engineering
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    • v.11 no.6
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    • pp.57-64
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    • 1994
  • This paper proposes a fuzzy tuning PID controller for straight line type inverted pendulum. The conventional PID controller which is used widely in industrial field has fatal drawback on determining control gains for practical system. The proposed controller tunes the gains automatically based on fuzzy urle derived from the experience of expert operator. The results of simulation and experiment show the efficiency of the proposed control method comparing with conventional PID control method in terms of rising time, overshoot, and overall errors.

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A study of improved inverted pendulum controller using sliding mode (슬라이딩 모드를 이용한 개선된 도립전자 시스템 제어기에 관한 연구)

  • 이규형;이태봉;박준열
    • 제어로봇시스템학회:학술대회논문집
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    • 1996.10b
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    • pp.249-252
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    • 1996
  • The inverted pendulum system is mechanical system which can handle the modern control theory and practical applications. In theoretical field, it is used as the experimental device identifying the effects of control method and in applicative field. There are difficulties in designing or linearizing the practical controller because it is so sensitive to the parameter variation and has the highly non-linear characteristic. In this paper, we suggested the systems which compensate the non-linearity throughout the internal control method and designed controller which is robust to the parameter variation using sliding mode.

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Synthesis of polymer - based inverted opal and transformation of its optical properties

  • Masalov, Vladimir M.;Dolganov, Pavel V.;Sukhinina, Nadezhda S.;Dolganov, Vladimir K.;Emelchenko, Gennadi A.
    • Advances in nano research
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    • v.2 no.1
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    • pp.69-76
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    • 2014
  • We have obtained opal-like photonic crystals based on opals and inverted opals exhibiting a shift of the selective reflection band toward longer and shorter wavelengths with respect to the diffraction band of the initial opal consisting of $SiO_2$ spheres. The contribution of frames forming three-dimensional periodic structures and that of fillers to the spectral arrangement of the diffraction bands has been determined.

Multilayer transparent electrodes for flexible and inverted-geometry OLEDs

  • Yoo, Seung-Hyup;Yun, Chang-Hun;Park, Jae-Woo;Cho, Hyun-Su
    • 한국정보디스플레이학회:학술대회논문집
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    • 2008.10a
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    • pp.1019-1021
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    • 2008
  • Multilayer transparent electrodes (MTE) based on an ultrathin metal layer assisted by additional dielectric or semiconducting layers are investigated as electrodes in OLEDs including an inverted geometry. A special attention is paid to their tuning capability in injection behavior and to their potential for ultra-flexible electrodes.

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VSS control of inverted pendulum (도립진자의 가변 구조 제어)

  • 한문섭;이욱열
    • 제어로봇시스템학회:학술대회논문집
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    • 1988.10a
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    • pp.54-57
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    • 1988
  • In this thesis, after the inverted pendulum being made, its state equation was established with parameters obtained by the state space approach and its position stabilization control was performed with VSS. The switching function of VSS was obtained from pole placement method and as the result of VSS control was compared with that of optimal regulator control, its robustness was clarified in sliding mode. The position and stabilization control of the inverted pendulum Wstem were acomplished with VSS.

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Stabilization Control of Inverted Pendulum Systems Using a State Observer (상태관측기를 이용한 도립진자 시스템의 안정화 제어)

  • Lee, Yun-Hyung;Ahn, Jong-Kap;Kim, Min-Jeong;So, Myung-Ok;Jin, Gang-Gyoo
    • Proceedings of the Korean Society of Marine Engineers Conference
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    • 2005.11a
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    • pp.49-50
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    • 2005
  • This paper 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 obtained by a real-coded genetic algorithm(RCGA) such that the given performances indices are minimized.

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Hybrid control of rotary type inverted pendulum by using one-chip microcomputer (One-chip 마이크로 컴퓨터에 의한 회전형 도립 진자의 hybrid 제어)

  • 김환성;김상봉
    • 제어로봇시스템학회:학술대회논문집
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    • 1992.10a
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    • pp.999-1003
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    • 1992
  • In the paper, a hybrid control approach for the swing-up control of a rotary type inverted pendulum is treated using one-chip microcomputer. The control approach is composed by a scheduling logic control for swing up control and the linear state feedback control to achieve the disired inverted-state of the pendulum. The experimental cystem has been implemented by a 16-bit one-chip microcomputer with 3096 opu as the digital controller incorporating the above mentioned control approach.

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