NDLI: Two relay based control for orbital stabilization of inertia wheel pendulum

Content Provider	IEEE Xplore Digital Library
Author	Luna, V.J. Aguilar, L.T.
Copyright Year	2010
Description	Author affiliation: Instituto Politécnico Nacional, Centro de Investigación y Desarrollo de Tecnología Digital, Avenida del Parque 1310 Mesa de Otay, Tijuana 22510 México (Luna, V.J.; Aguilar, L.T.)
Abstract	We study the orbital stabilization problem of an inertia wheel pendulum (IWP) where a two-relay controller will be used to induce oscillations at the pendulum. The main focus of the paper is the consideration of the viscous friction force and saturation of the actuator. A two relay controller produces oscillations at the scalar output of the plant where the desired amplitude and frequency are reached by choosing its gains but now we consider the bounded input restriction in the design. Condition in frequency and amplitude will be explicitly given leading to permissible controller parameter design. Performance issues of the controller constructed are illustrated in an experimental study.
Starting Page	313
Ending Page	318
File Size	234997
Page Count	6
File Format	PDF
ISBN	9781424458295
e-ISBN	9781424458318
e-ISBN	9781424458301
DOI	10.1109/VSS.2010.5544680
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-06-26
Publisher Place	Mexico
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Variable structure systems Actuators Friction Wheels Cities and towns Control systems Frequency Mechanical systems Relays Sliding mode control
Content Type	Text
Resource Type	Article

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