CONSTRAINED DESIGN OF THE PENDULUM CART CONTROL

HUBA, M.

Abstract

This work discusses problems associated with application of the constrained pole assignment control algorithms to the control of the pendulum cart. Here, due to the friction effect, the requirements on a small steady state control error leads to as large controller gains as possible. On the other hand, the inherent backlash leads to oscillations in small and requires limiting the controller gains. So, in tuning such a controller the designer has to consider contradictory requirements, what is relatively easy by using an extension of the step response method by Ziegler and Nichols.

Coresponding author e-mail: mikulas[dot]huba[at]stuba[dot]sk

Session: Linear and Non-linear Control System Design