Proportional-integral-plus (PIP) control of an inverted pendulum system

Roger Dixon; P.C. Young; A. Chotai; J. Shao

doi:10.1049/cp:19960628

Proportional-integral-plus (PIP) control of an inverted pendulum system

Roger Dixon, P.C. Young, A. Chotai, J. Shao

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

This paper discusses the design and implementation of an optimal proportional-integral-plus (PIP) controller for a large inverted pendulum system. Utilising the true digital control (TDC) approach to control systems, a data-based model of the unstable nonminimum phase open-loop system is used for linear quadratic (LQ) optimal design of the PIP controller, which out-performs a more conventional state variable feedback controller based on a continuous-time, mechanistic model of the system.

Original language	English
Title of host publication	UKACC International Conference on Control '96 (Conf. Publ. No. 427)
Publisher	Institution of Engineering and Technology
Pages	650-655
ISBN (Print)	0-85296-668-7
DOIs	https://doi.org/10.1049/cp:19960628
Publication status	Published - Sept 1996

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title = "Proportional-integral-plus (PIP) control of an inverted pendulum system",

abstract = "This paper discusses the design and implementation of an optimal proportional-integral-plus (PIP) controller for a large inverted pendulum system. Utilising the true digital control (TDC) approach to control systems, a data-based model of the unstable nonminimum phase open-loop system is used for linear quadratic (LQ) optimal design of the PIP controller, which out-performs a more conventional state variable feedback controller based on a continuous-time, mechanistic model of the system.",

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AU - Shao, J.

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N2 - This paper discusses the design and implementation of an optimal proportional-integral-plus (PIP) controller for a large inverted pendulum system. Utilising the true digital control (TDC) approach to control systems, a data-based model of the unstable nonminimum phase open-loop system is used for linear quadratic (LQ) optimal design of the PIP controller, which out-performs a more conventional state variable feedback controller based on a continuous-time, mechanistic model of the system.

AB - This paper discusses the design and implementation of an optimal proportional-integral-plus (PIP) controller for a large inverted pendulum system. Utilising the true digital control (TDC) approach to control systems, a data-based model of the unstable nonminimum phase open-loop system is used for linear quadratic (LQ) optimal design of the PIP controller, which out-performs a more conventional state variable feedback controller based on a continuous-time, mechanistic model of the system.

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DO - 10.1049/cp:19960628

M3 - Conference contribution

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BT - UKACC International Conference on Control '96 (Conf. Publ. No. 427)

PB - Institution of Engineering and Technology

ER -

Proportional-integral-plus (PIP) control of an inverted pendulum system

Abstract

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