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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Chi-Chun Cheng Su-Chiun Wang Li-Chen Fu |
| Copyright Year | 2004 |
| Description | Author affiliation: Dept. of Electr. Eng., Nat. Taiwan Univ., Taipei, Taiwan (Chi-Chun Cheng; Su-Chiun Wang) |
| Abstract | We propose an integrated control architecture for the "PenduLIM" which consists of an inverted pendulum (IP) mounted on a linear induction motor (LIM). According to this innovative architecture, the IP is swung up and stabilized to its upright unstable equilibria as well as the displacement is regulated to zero, by exerting horizontal thrust from the LIM. In order to cope with this highly nonlinear and unstable system, the IP is controlled via a passivity-based energy controller coincides with a model-reference adaptive controller while the LIM is controlled via a thrust controller with secondary resistance adaptation. Then, by feeding the IP control law as command of LIM servo control subsystem, the overall closed-loop system is globally asymptotically stable (A.S.) in the sense of arbitrary initial displacement and angle. Finally, the success of proposed control scheme is demonstrated by numerical simulations. |
| Sponsorship | IEEE Control Syst. Soc |
| Starting Page | 87 |
| Ending Page | 92 |
| File Size | 401194 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780386337 |
| DOI | 10.1109/CCA.2004.1387192 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2004-09-02 |
| Publisher Place | Taiwan |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Control systems Induction motors Nonlinear control systems Adaptive control Programmable control Servosystems Mechanical systems Control system synthesis Centralized control Displacement control |
| Content Type | Text |
| Resource Type | Article |
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