TY - JOUR
T1 - Implementation of a Controller to Eliminate the Limit Cycle in the Inverted Pendulum on a Cart
AU - Antonio-Cruz, Mayra
AU - Hernández-Guzmán, Victor Manuel
AU - Silva-Ortigoza, Ramón
AU - Silva-Ortigoza, Gilberto
N1 - Publisher Copyright:
© 2019 Mayra Antonio-Cruz et al.
PY - 2019
Y1 - 2019
N2 - A frequency response-based linear controller is implemented to regulate the inverted pendulum on a cart at the inverted position. The objective is to improve the performance of the control system by eliminating the limit cycle generated by the dead-zone, induced by static friction, at the actuator of the mechanism. This control strategy has been recently introduced and applied by the authors to eliminate the limit cycle in the Furuta pendulum and the pendubot systems. Hence, the main aim of the present paper is to study the applicability of the control strategy to eliminate the limit cycle in the inverted pendulum on a cart. The successful results that are obtained in experiments corroborate that the approach introduced by the authors to eliminate the limit cycle in the Furuta pendulum and pendubot is also valid for the inverted pendulum on a cart.
AB - A frequency response-based linear controller is implemented to regulate the inverted pendulum on a cart at the inverted position. The objective is to improve the performance of the control system by eliminating the limit cycle generated by the dead-zone, induced by static friction, at the actuator of the mechanism. This control strategy has been recently introduced and applied by the authors to eliminate the limit cycle in the Furuta pendulum and the pendubot systems. Hence, the main aim of the present paper is to study the applicability of the control strategy to eliminate the limit cycle in the inverted pendulum on a cart. The successful results that are obtained in experiments corroborate that the approach introduced by the authors to eliminate the limit cycle in the Furuta pendulum and pendubot is also valid for the inverted pendulum on a cart.
UR - http://www.scopus.com/inward/record.url?scp=85062368584&partnerID=8YFLogxK
U2 - 10.1155/2019/8271584
DO - 10.1155/2019/8271584
M3 - Artículo
AN - SCOPUS:85062368584
SN - 1076-2787
VL - 2019
JO - Complexity
JF - Complexity
M1 - 8271584
ER -