Discretization and Control of Rotating Pendulum under Lebesgue Sampling

SUMMARY This study addresses a discretization method with Lebesgue sampling for a type of nonlinear system, and proposes a control method based on the discrete system model. A cart‐pendulum system is used as an example. Applying this control method to some real system, a crucial problem is how to im...

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Published inElectronics and communications in Japan Vol. 97; no. 11; pp. 10 - 18
Main Authors Ohsaki, Hiroshi, Iwase, Masami, Hatakeyama, Shoshiro
Format Journal Article
LanguageEnglish
Published Blackwell Publishing Ltd 01.11.2014
Subjects
cart-pendulum
Control systems
Discrete systems
Discretization
Dynamical systems
Encoders
event-based control
Lebesgue sampling control
Mathematical models
Runge-Kutta method
Sampling
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Summary:SUMMARY This study addresses a discretization method with Lebesgue sampling for a type of nonlinear system, and proposes a control method based on the discrete system model. A cart‐pendulum system is used as an example. Applying this control method to some real system, a crucial problem is how to implement the controller. To overcome the problem, an impulsive Luenberger observer is introduced with numerical forward mapping from the current system state to the one‐step‐ahead state by the well‐known Runge–Kutta method. As a result, a cart‐pendulum system with a rotary encoder, whose quantization interval is relatively large, can be controlled effectively. Numerical simulations are performed to verify the effectiveness of the proposed method.
Bibliography:istex:853FD14F3D801BB7B88A59F407B441D6CA2D2BBF
ark:/67375/WNG-FMLJXHX4-1
ArticleID:ECJ11596
ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 23
ISSN:1942-9533
1942-9541
DOI:10.1002/ecj.11596