Low-Pass Filter Property of Dynamic Output Feedback Passivation Controller

We present a state-space approach to design a passivity-based dynamic output feedback controller that achieves stabilization and set-point regulation. A frequency domain analysis is performed in order to test the performances of the low-order control law against measurement noise. It is shown that t...

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Bibliographic Details
Main Authors: Son, Y.I., Jo, N.H., Hyungbo Shim, Kab-Il Kim
Format: Conference Proceeding
Language:English
Subjects:
derivative control
dynamic output feedback
Frequency domain analysis
Frequency measurement
Low pass filters
low-pass filter
Noise measurement
Noise reduction
Output feedback
Passivation
passivity
PD control
Performance evaluation
rotary inverted pendulum
Testing
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Summary:We present a state-space approach to design a passivity-based dynamic output feedback controller that achieves stabilization and set-point regulation. A frequency domain analysis is performed in order to test the performances of the low-order control law against measurement noise. It is shown that the proposed control law inherently has low-pass filter property as well as it can successfully replace the measurements of derivative terms in PD control laws. Motivated by the low-pass filter property a higher-order controller is also introduced to enhance the noise reduction property. The effectiveness of the proposed control law is illustrated by numerical simulations and experimental results with a rotary inverted pendulum
DOI:10.1109/SICE.2006.315341