NDLI: Rotational motion control design for cart-pendulum system with Lebesgue sampling

Content Provider	IEEE Xplore Digital Library
Author	Ohsaki, H. Iwase, M. Hatakeyama, S.
Copyright Year	2011
Description	Author affiliation: Dept. of Robot. & Mechatron., Tokyo Denki Univ., Tokyo, Japan (Iwase, M.; Hatakeyama, S.) \|\| Grad. Sch. of Adv. Sci. & Technol., Tokyo Denki Univ., Tokyo, Japan (Ohsaki, H.)
Abstract	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 this example. Applying this control method to some real system, how to implement the controller is a crucial problem. To overcome the problem, an impulsive Luenberger observer is introduced with a numerical forward mapping from the current system state to the one-step ahead state by well-known Runge-Kutta method. As the result, a cart pendulum system with a quantizer, whose quantization interval is relatively large, can be controlled effectively. Numerical simulations are performed to verify the effectiveness of the proposed method.
Sponsorship	Control Syst. Soc.
Starting Page	827
Ending Page	832
File Size	598814
Page Count	6
File Format	PDF
ISBN	9781457700804
ISSN	07431619
e-ISBN	9781457700811
DOI	10.1109/ACC.2011.5990998
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Angular velocity Quantization Observers Nonlinear systems Acceleration Digital control
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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