TY - JOUR
T1 - Linear state feedback regulation of a furuta pendulum
T2 - Design based on differential flatness and root locus
AU - Hernandez-Guzman, Victor Manuel
AU - Antonio-Cruz, Mayra
AU - Silva-Ortigoza, Ramon
N1 - Publisher Copyright:
© 2013 IEEE.
PY - 2016
Y1 - 2016
N2 - Different educational and didactic papers that allow students to experimentally validate linear controllers have been reported. However, generally, in those papers, procedure followed to select controller gains is not discussed. This lack of information renders difficult experimental implementation of controllers by students who, in general, do not have enough experience on controller tuning. Motivated by this situation, this paper introduces a methodology that provides important information on how to select controller gains for regulation in a Furuta pendulum. This methodology allows improving closed-loop system performance in a desired direction. Differential flatness is the Furuta pendulum property that is exploited. The main idea is to translate a linear state feedback control design problem into a scenario, where classical tools such as root locus can be used. As an example, controller design is directed toward reduction or even elimination of limit cycle effects. The proposal is experimentally tested on a built Furuta pendulum. These experimental results show that the closed-loop system performance is improved, and hence, the proposed methodology is successfully validated.
AB - Different educational and didactic papers that allow students to experimentally validate linear controllers have been reported. However, generally, in those papers, procedure followed to select controller gains is not discussed. This lack of information renders difficult experimental implementation of controllers by students who, in general, do not have enough experience on controller tuning. Motivated by this situation, this paper introduces a methodology that provides important information on how to select controller gains for regulation in a Furuta pendulum. This methodology allows improving closed-loop system performance in a desired direction. Differential flatness is the Furuta pendulum property that is exploited. The main idea is to translate a linear state feedback control design problem into a scenario, where classical tools such as root locus can be used. As an example, controller design is directed toward reduction or even elimination of limit cycle effects. The proposal is experimentally tested on a built Furuta pendulum. These experimental results show that the closed-loop system performance is improved, and hence, the proposed methodology is successfully validated.
KW - Automatic control education
KW - Classical control
KW - Differential flatness
KW - Furuta pendulum
KW - Gain selection
KW - Root locus
KW - Stabilization
KW - State feedback control
UR - http://www.scopus.com/inward/record.url?scp=85009231060&partnerID=8YFLogxK
U2 - 10.1109/ACCESS.2016.2637822
DO - 10.1109/ACCESS.2016.2637822
M3 - Artículo
SN - 2169-3536
VL - 4
SP - 8721
EP - 8736
JO - IEEE Access
JF - IEEE Access
M1 - 7778177
ER -