Implementation of servo systems for controlling a double purpose nonlinear plant: Inverted pendulum and crane

Arturo Rojas-Moreno; Fernando S. Merchán-Gordillo; Leonardo D. Gushiken-Gibu

Implementation of servo systems for controlling a double purpose nonlinear plant: Inverted pendulum and crane

Arturo Rojas-Moreno, Fernando S. Merchán-Gordillo, Leonardo D. Gushiken-Gibu

Research output: Contribution to conference › Paper › peer-review

4 Scopus citations

Abstract

This paper develops design procedures of Proportional-Integral Servo Systems (SSs for short) for controlling a double purpose nonlinear plant: Inverted Pendulum and Crane (IP&C). Such a plant can be described by nonlinear differential equations, where the nonlinear terms complicate the analytical aspects of modeling and controller design. However, based on the linearized plant model, we can configurate discrete-time SSs by combining linear controllers with linear observers. Experimental results demonstrate that each SS is able to stabilize an IP (or a Crane) mounted on a servomotor-driven cart. Three SSs configurations are developed: A Steady-State Quadratic Optimal Controller (SSQOC) with a Quadratic Optimal State Observer (QOSO), a Pole Placement Controller (PPC) with a Full-Order State Observer (FOSO), and a PPC with a Minimum-Order State Observer (MOSO).

Original language	English
Pages	884-889
Number of pages	6
State	Published - 2001
Externally published	Yes
Event	Proceedings of the 2001 IEEE International Conference on Control Applications CCA '01 - Mexico City, Mexico Duration: 5 Sep 2001 → 7 Sep 2001

Conference

Conference	Proceedings of the 2001 IEEE International Conference on Control Applications CCA '01
Country/Territory	Mexico
City	Mexico City
Period	5/09/01 → 7/09/01

Cite this

@conference{5f0f2156706e417db4b46681e5909b66,

title = "Implementation of servo systems for controlling a double purpose nonlinear plant: Inverted pendulum and crane",

abstract = "This paper develops design procedures of Proportional-Integral Servo Systems (SSs for short) for controlling a double purpose nonlinear plant: Inverted Pendulum and Crane (IP\&C). Such a plant can be described by nonlinear differential equations, where the nonlinear terms complicate the analytical aspects of modeling and controller design. However, based on the linearized plant model, we can configurate discrete-time SSs by combining linear controllers with linear observers. Experimental results demonstrate that each SS is able to stabilize an IP (or a Crane) mounted on a servomotor-driven cart. Three SSs configurations are developed: A Steady-State Quadratic Optimal Controller (SSQOC) with a Quadratic Optimal State Observer (QOSO), a Pole Placement Controller (PPC) with a Full-Order State Observer (FOSO), and a PPC with a Minimum-Order State Observer (MOSO).",

author = "Arturo Rojas-Moreno and Merch{\'a}n-Gordillo, \{Fernando S.\} and Gushiken-Gibu, \{Leonardo D.\}",

year = "2001",

language = "English",

pages = "884--889",

note = "Proceedings of the 2001 IEEE International Conference on Control Applications CCA '01 ; Conference date: 05-09-2001 Through 07-09-2001",

}

Implementation of servo systems for controlling a double purpose nonlinear plant: Inverted pendulum and crane. / Rojas-Moreno, Arturo; Merchán-Gordillo, Fernando S.; Gushiken-Gibu, Leonardo D.
2001. 884-889 Paper presented at Proceedings of the 2001 IEEE International Conference on Control Applications CCA '01, Mexico City, Mexico.

Research output: Contribution to conference › Paper › peer-review

TY - CONF

T1 - Implementation of servo systems for controlling a double purpose nonlinear plant

T2 - Proceedings of the 2001 IEEE International Conference on Control Applications CCA '01

AU - Rojas-Moreno, Arturo

AU - Merchán-Gordillo, Fernando S.

AU - Gushiken-Gibu, Leonardo D.

PY - 2001

Y1 - 2001

N2 - This paper develops design procedures of Proportional-Integral Servo Systems (SSs for short) for controlling a double purpose nonlinear plant: Inverted Pendulum and Crane (IP&C). Such a plant can be described by nonlinear differential equations, where the nonlinear terms complicate the analytical aspects of modeling and controller design. However, based on the linearized plant model, we can configurate discrete-time SSs by combining linear controllers with linear observers. Experimental results demonstrate that each SS is able to stabilize an IP (or a Crane) mounted on a servomotor-driven cart. Three SSs configurations are developed: A Steady-State Quadratic Optimal Controller (SSQOC) with a Quadratic Optimal State Observer (QOSO), a Pole Placement Controller (PPC) with a Full-Order State Observer (FOSO), and a PPC with a Minimum-Order State Observer (MOSO).

AB - This paper develops design procedures of Proportional-Integral Servo Systems (SSs for short) for controlling a double purpose nonlinear plant: Inverted Pendulum and Crane (IP&C). Such a plant can be described by nonlinear differential equations, where the nonlinear terms complicate the analytical aspects of modeling and controller design. However, based on the linearized plant model, we can configurate discrete-time SSs by combining linear controllers with linear observers. Experimental results demonstrate that each SS is able to stabilize an IP (or a Crane) mounted on a servomotor-driven cart. Three SSs configurations are developed: A Steady-State Quadratic Optimal Controller (SSQOC) with a Quadratic Optimal State Observer (QOSO), a Pole Placement Controller (PPC) with a Full-Order State Observer (FOSO), and a PPC with a Minimum-Order State Observer (MOSO).

UR - https://www.scopus.com/pages/publications/0035692146

M3 - Paper

AN - SCOPUS:0035692146

SP - 884

EP - 889

Y2 - 5 September 2001 through 7 September 2001

ER -

Implementation of servo systems for controlling a double purpose nonlinear plant: Inverted pendulum and crane

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