{"title":"三重倒立摆的鲁棒控制","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":"{\"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}","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}
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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