Polytopic Decomposition of the Linear Parameter-varying Model of the Parallel-type Double inverted Pendulum

Most of the formal controller synthesis approaches require conditions like controllability, observability of the systems, however it is still difficult to verify these properties in general. In case of polytopic models these conditions and the feasibility of the linear matrix inequalities (LMI) base...

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Bibliographic Details
Published in2007 11th International Conference on Intelligent Engineering Systems pp. 271 - 275
Main Authors Nagy, S., Petres, Z., Baranyi, P., Szeidl, L., Michelberger, P.
Format Conference Proceeding
LanguageEnglish
Published 01.06.2007
Subjects
Automatic control
Automation
Concurrent computing
Control system synthesis
Electronic mail
Lighting control
Linear matrix inequalities
Matrix decomposition
Strontium
Tensile stress
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Summary:Most of the formal controller synthesis approaches require conditions like controllability, observability of the systems, however it is still difficult to verify these properties in general. In case of polytopic models these conditions and the feasibility of the linear matrix inequalities (LMI) based design strongly depends on the weighting of the LTI vertex components of the polytopic model. With tensor product (TP) model transformation it is possible to decompose linear parameter-varying (LPV) models into polytopic forms in various ways and also provides the appropriate weighting functions. The objective of this paper is to use this decomposition on the the parallel-type double inverted pendulum control problem.
ISBN:1424411475
9781424411474
ISSN:1543-9259
2767-9462
DOI:10.1109/INES.2007.4283710