Control of a flexible inverse pendulum based on the singular perturbation method
| Autor: | Zainib Hatif Abbas |
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| Rok vydání: | 2020 |
| Předmět: | |
| Zdroj: | Journal of Physics: Conference Series. 1679:022009 |
| ISSN: | 1742-6596 1742-6588 |
| Popis: | In this article, a partial differential equation model for a flexible inverted pendulum system is derived by using the Hamilton principle. Specifically, problems of stabilization and the optimization of such a system are considered. In addition, the singular perturbation method has been used to divide the partial differential equation model for a fast and a slow subsystem. For a fast subsystem stabilization, the control algorithm proposed a boundary force applied at the free end of the beam which proved that the closed-loop subsystem is appropriate and exponentially stable. To stabilize the slow subsystem, a sliding mode control method was used to design the controller, while the method of linear matrix inequality was used in designing the sliding surface. In conclusion, it was shown that the slow subsystem is exponentially stable. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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