Linear State Feedback Regulation of a Furuta Pendulum: Design Based on Differential Flatness and Root Locus

Hernández-Guzmán, Victor Manuel; Antonio-Cruz, Mayra; Silva‐Ortigoza, Ramón

doi:10.1109/access.2016.2637822

Cited by 30 publications

(28 citation statements)

References 55 publications

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“…The experimental results are reported as follows. On the one hand, in Figures 5 and 6, the results associated with the hierarchical controller, that is, Equations (32) and (33), correspond to υ h , i h , u 1av h , ω h , i a h , and u 2av h . The results related to the passive controller, that is, Equations (36) and (37), are υ p , i p , u 1av p , ω p , i a p , and u 2av p .…”

Section: Resultsmentioning

confidence: 99%

“…• Controllers. In this block, the synthesis and programming of the hierarchical controller Equations (32) and (33) and the passive controller Equations (36) and 37is carried-out via Matlab-Simulink. The corresponding program is shown in Figure 3, where the following four stages are observed: (i) Signals acquisition, (ii) Reference variables, (iii) Hierarchical controller, and (iv) Passive controller.…”

Section: Experimental Testbedmentioning

confidence: 99%

“…and the final voltage and velocity, chosen as: (32) and 33is carried-out via Matlab-Simulink. Gains of this controller, i.e., (β 1 , β 0 ) and (δ 2 , δ 1 , δ 0 ), given by Equations (34) and (35), were obtained by selecting its parameters as follows:…”

Section: Signals Acquisitionmentioning

confidence: 99%

“…It is worth noting that industrial and mechatronic applications would be limited if [8][9][10][11][12][13][14][15][16][17][18][19][20][21][22][23][24] were only considered compared with [6,[25][26][27][28][29][30][31]. For example, in mobile robots [2][3][4], and underactuated mechanical systems [32,33], among others.…”

Section: Introductionmentioning

confidence: 99%

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Robust Tracking Controller for a DC/DC Buck-Boost Converter–Inverter–DC Motor System

et al. 2018

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This paper has two aims. The first is to develop a robust hierarchical tracking controller for the DC/DC Buck-Boost–inverter–DC motor system. This controller considers a high level control for the inverter–DC motor subsystems and a low level control for the DC/DC Buck-Boost converter subsystem. Such controls solve the tracking task associated with the angular velocity of the motor shaft and the output voltage of the converter, respectively, via the differential flatness approach. The second aim is to present a comparison of the robust hierarchical controller to a passive controller. This, with the purpose of showing that performance achieved with the hierarchical controller proposed in this paper, is better than the one achieved with the passive controller. Both controllers are experimentally implemented on a prototype of the DC/DC Buck-Boost–inverter–DC motor system by using Matlab-Simulink along with the DS1104 board from dSPACE. According to experimental results, the proposal in the present paper achieves a better performance than the passive controller.

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Section: Resultsmentioning

confidence: 99%

Section: Experimental Testbedmentioning

confidence: 99%

Section: Signals Acquisitionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Robust Tracking Controller for a DC/DC Buck-Boost Converter–Inverter–DC Motor System

et al. 2018

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“…In [25], the authors design a robust control approach for the rotary inverted double pendulum, where the regulated signal does not depend on the control 20 input as our control design does. Almost all of them are designed to fulfill the regulation and tracking control objectives, being robust against external perturbations [26]- [32]. The usual theory to solve a tracking problem is based on reducing the error between the actual position and the desired trajectory (see [30]- [36] and references in it).…”

Section: Introductionmentioning

confidence: 99%