|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.
|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.||URI:||http://hdl.handle.net/11420/2478||ISSN:||2405-8963||Institute:||Regelungstechnik E-14||Type:||(wissenschaftlicher) Artikel|
|Appears in Collections:||Publications without fulltext|
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