Control under constraints: an application of the command governor approach to an inverted pendulum

The purpose of this paper is to exhibit the relevance of command governor (CG) strategies in real control problems, where consideration has to be given to nonlinearities, model uncertainties, disturbances, input and state-related constraints and requirements of moderate computational complexity. The...

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Bibliographic Details
Published in:IEEE transactions on control systems technology 2004-01, Vol.12 (1), p.193-204
Main Authors: Casavola, A., Mosca, E., Papini, M.
Format: Article
Language:English
Subjects:
Applied sciences
Carts
Character generation
Commands
Computational complexity
Computer science
control theory
systems
Constraint theory
Control design
Control nonlinearities
Control systems
Control theory. Systems
Exact sciences and technology
Governors
Laboratories
Motors
Pendulums
Predictive control
Stability
Strategy
Tracking
Uncertainty
Voltage
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Summary:The purpose of this paper is to exhibit the relevance of command governor (CG) strategies in real control problems, where consideration has to be given to nonlinearities, model uncertainties, disturbances, input and state-related constraints and requirements of moderate computational complexity. The plant considered is a laboratory cart/rod inverted pendulum for which the control problem consists of regulating vertically its rod subject to motor voltage and rod angle constraints, while providing full-range optimized tracking performance for the cart position. The merits of the proposed CG technique in this application are investigated, and its advantages over classic linear time-invariant design methods are discussed.
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2003.821953