Forced dynamic control of non-minimum-phase plants via study of the classical inverted pendulum

Pedersen, Jacob L. and Dodds, Stephen J. (2010) ‘Forced dynamic control of non-minimum-phase plants via study of the classical inverted pendulum’, Proceedings of Advances in Computing and Technology, (AC&T) The School of Computing and Technology 5th Annual Conference, University of East London, pp. 45-53.

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Abstract

The general problem of controlling a non-minimum-phase plant is tackled via study of the classical inverted pendulum (IP). A full nonlinear model of the IP is used for simulation and a linearised version is used for the controller design. The trolley position is controlled while keeping the pendulum inverted by use of an input/output feedback linearisation method called Forced Dynamic Control (FDC). This is generally more straightforward to apply than conventional techniques such as linear state feedback with pole assignment but in its basic form yields right half plane zero cancellation which creates an unstable closed loop mode. This is circumvented in this paper by creating an artificial controlled output that is a weighted sum of the state variables such that the right half plane zeros do not exist in the transfer function. Furthermore a non-oscillatory response with a specified settling time is achieved with the aid of the Dodds settling time formula (Dodds, 2008). The computational delay introduced to eliminate the algebraic loop in the nonlinear model is shown to have a negligible effect. Simulations are presented that demonstrate the correct operation of the control system and determine differences between the ideal and actual step responses due to the nonlinearities, parametric errors and external disturbances.

Item Type: Conference or Event Item (Paper)
Additional Information: Citation: Pedersen, J.L. and Dodds, S.J. (2010) ‘Forced dynamic control of nonminimum- phase plants via study of the classical inverted pendulum’ Proceedings of Advances in Computing and Technology, (AC&T) The School of Computing and Technology 5th Annual Conference, University of East London, pp.45-53..
Divisions: Schools > Architecture Computing and Engineering, School of
Depositing User: Mr Stephen Grace
Date Deposited: 03 Sep 2010 10:38
Last Modified: 27 Sep 2012 11:59
URI: http://hdl.handle.net/10552/971

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