The Experimental Verification of Stabilization Control of Inverted Pendulum Using the Multirate State Observer
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概要
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In this paper, we describe about application results of multirate digital state observer to stabilizing control of inverted pendulum. Generally, using the conventional digital control method, if there is a control variable that needs longer time duration for the detection in the digital control system, sampling period of the others variables and control period depend on its period, that causes degradation of control performances. Hence, responses of regulator with a multirate digital state observer are compared with ones with a conventional identity observer through our experiments. As a result, it is clarified that the digital control system using multirate digital state observer is superior to conventional control system for the multirate sampling environment.
- 東海大学の論文
著者
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Miyazaki Kazuhiko
Course Of Electronics
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ANABUKI Masatoshi
Department of Control Engineering
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ABE Ryutaro
Course of Electronics
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Anabuki Masatoshi
Department Of Applied Computer Engineering
関連論文
- Stabilization of an Inverted Pendulum by Using Sliding Mode Control with the Multi-rate State Observer
- On the Computer Control of the Parallel Inverted Pendulum with a Rotating Arm
- The Experimental Verification of Stabilization Control of Inverted Pendulum Using the Multirate State Observer
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- Design of Multirate State Observers and its Application to the Synthesis of Control Systems
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