Publisher DOI: 10.1016/j.ifacol.2018.11.169
Title: LPV Control of a Gyroscope with Inverted Pendulum Attachment
Language: English
Authors: Koelewijn, P. J. W. 
Cisneros, Pablo S. G. 
Werner, Herbert 
Toth, Roland 
Issue Date: 2018
Source: IFAC-PapersOnLine 26 (51): 49-54 (2018)
Journal or Series Name: IFAC-PapersOnLine 
Abstract (english): A linear parameter varying (LPV) optimal L2 gain controller is designed with mixed-sensitivity shaping to stabilize an inverted pendulum attached to a control moment gyroscope (CMG). Swing-up of the pendulum is achieved by a start-up LPV controller for which the reference is designed by an energy regulator. The LPV performance controller is enabled as soon as the pendulum enters into its operating range of ±0.15 rad. Based on both simulation and experimental results, it is demonstrated that stabilization of the pendulum is achieved for varying gimbal angles and rotational speed of the flywheel.
ISSN: 2405-8963
Institute: Regelungstechnik E-14 
Type: (wissenschaftlicher) Artikel
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