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Safe Manual Control of Unstable Systems

Åkesson, Johan (2000) In MSc Theses
Department of Automatic Control
Abstract
This thesis deals with manual control of unstable systems, subject to control signal constraints. Allocation of control authority is critical in this situation. The manual control, or reference following, must not be performed at the risk of loosing stability. The conflicting objective is to achieve acceptable reference following performance. Design of control systems under such circumstances is critical, and has several important applications. One example is modern flight control systems for unstable fighter aircrafts. Experiments have been an important part of this work. An inverted pendulum of the Furuta type, has been used for experimental verification of the controller designs. This plant is unstable, but reasonably easy to analyze... (More)
This thesis deals with manual control of unstable systems, subject to control signal constraints. Allocation of control authority is critical in this situation. The manual control, or reference following, must not be performed at the risk of loosing stability. The conflicting objective is to achieve acceptable reference following performance. Design of control systems under such circumstances is critical, and has several important applications. One example is modern flight control systems for unstable fighter aircrafts. Experiments have been an important part of this work. An inverted pendulum of the Furuta type, has been used for experimental verification of the controller designs. This plant is unstable, but reasonably easy to analyze and perform experiments with. Theoretical as well as practical results are presented in this report. Controllers for the linearized pendulum model have been designed and simulated. Some of the designs were also implemented and evaluated on the real Furuta pendulum. The translation of the controllers from a simulation environment to the real plant proved quite difficult. Some modifications of the controllers had to be made, in order to achieve the desired results on the real Furuta pendulum. Compensation for friction also had to be done. (Less)
Please use this url to cite or link to this publication:
author
Åkesson, Johan
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
keywords
Input Saturations, Unstable Systems, Furuta Pendulum, Manual Control
publication/series
MSc Theses
report number
TFRT-5646
ISSN
0280-5316
language
English
id
8848355
date added to LUP
2016-03-20 18:13:08
date last changed
2016-03-20 18:13:08
@misc{8848355,
  abstract     = {{This thesis deals with manual control of unstable systems, subject to control signal constraints. Allocation of control authority is critical in this situation. The manual control, or reference following, must not be performed at the risk of loosing stability. The conflicting objective is to achieve acceptable reference following performance. Design of control systems under such circumstances is critical, and has several important applications. One example is modern flight control systems for unstable fighter aircrafts. Experiments have been an important part of this work. An inverted pendulum of the Furuta type, has been used for experimental verification of the controller designs. This plant is unstable, but reasonably easy to analyze and perform experiments with. Theoretical as well as practical results are presented in this report. Controllers for the linearized pendulum model have been designed and simulated. Some of the designs were also implemented and evaluated on the real Furuta pendulum. The translation of the controllers from a simulation environment to the real plant proved quite difficult. Some modifications of the controllers had to be made, in order to achieve the desired results on the real Furuta pendulum. Compensation for friction also had to be done.}},
  author       = {{Åkesson, Johan}},
  issn         = {{0280-5316}},
  language     = {{eng}},
  note         = {{Student Paper}},
  series       = {{MSc Theses}},
  title        = {{Safe Manual Control of Unstable Systems}},
  year         = {{2000}},
}