{"title":"Robust control of a triple inverted pendulum","authors":"V. Tsachouridis","doi":"10.1109/CCA.1999.801149","DOIUrl":null,"url":null,"abstract":"The design and implementation of a robust computer control system for balancing and improving the steady state performance of a triple inverted pendulum-cart system is considered. The controller is based on discrete-time H/sub /spl infin// theory. An integrator is used to eliminate the effects of small constant sensor offsets and rail inclinations. Experimental results are reported.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"15","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCA.1999.801149","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 15
Abstract
The design and implementation of a robust computer control system for balancing and improving the steady state performance of a triple inverted pendulum-cart system is considered. The controller is based on discrete-time H/sub /spl infin// theory. An integrator is used to eliminate the effects of small constant sensor offsets and rail inclinations. Experimental results are reported.
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