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Safe Reference Following on the Inverted Pendulum

Åkesson, Johan LU (1999) In Technical Reports TFRT-7587
Abstract
This work discusses methods to obtain reference following on unstable systems. The task is critical; introduction of refernce signal might cause instability in some cases. It is thus interesting to develop strategies that offer acceptable reference following, but also guarantees stability. In practice similiar problems arises in flight control systems for unstable fighter aircrafts. Experimental verifications of the discussed strategies have been carried out on a Furuta pendulum, i.e. an inverted pendulum. The system is ustable and thus well suited for the task. A few different strategies for achieving have been examined and experimentally evaluated.
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author
organization
publishing date
type
Book/Report
publication status
published
subject
keywords
Manual Control, Inverted Pendulum
in
Technical Reports TFRT-7587
publisher
Department of Automatic Control, Lund Institute of Technology (LTH)
ISSN
0280-5316
language
English
LU publication?
yes
id
67534df3-992b-49d8-85f4-6cf98e01cedf (old id 8602741)
date added to LUP
2016-04-01 16:47:25
date last changed
2018-11-21 20:44:13
@techreport{67534df3-992b-49d8-85f4-6cf98e01cedf,
  abstract     = {{This work discusses methods to obtain reference following on unstable systems. The task is critical; introduction of refernce signal might cause instability in some cases. It is thus interesting to develop strategies that offer acceptable reference following, but also guarantees stability. In practice similiar problems arises in flight control systems for unstable fighter aircrafts. Experimental verifications of the discussed strategies have been carried out on a Furuta pendulum, i.e. an inverted pendulum. The system is ustable and thus well suited for the task. A few different strategies for achieving have been examined and experimentally evaluated.}},
  author       = {{Åkesson, Johan}},
  institution  = {{Department of Automatic Control, Lund Institute of Technology (LTH)}},
  issn         = {{0280-5316}},
  keywords     = {{Manual Control; Inverted Pendulum}},
  language     = {{eng}},
  series       = {{Technical Reports TFRT-7587}},
  title        = {{Safe Reference Following on the Inverted Pendulum}},
  url          = {{https://lup.lub.lu.se/search/files/11127725/7587.pdf}},
  year         = {{1999}},
}