Optimal Control Designs for an Inverted Cart-Pendulum Array

Abstract

Optimal control design employing LQG methodology for an inverted cart-pendulum array (a non-minimum phase system) is explored. Motivation for the study is the availability of a laboratory hardware setup for implementation and experimentation, including used of analog computers for controllers. The dynamics of the open-loop plant are developed using Lagrangian techniques. The minimum-time optimization problem involving pump-up to an inverted configuration is examined. The optimal regulator problem is solved for several control scenarios, and the use of optional integral states is discussed. Various optimal estimation configurations include optimal estimators as well as simple differentiators. Robustness properties are analyzed for various control configurations. Actual hardware implementation and results are discussed and further study is suggested.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 1991
Accession Number
ADA243370

Entities

People

  • John E. Shaw

Organizations

  • Air Force Institute of Technology

Tags

Communities of Interest

  • Air Platforms
  • Energy and Power Technologies
  • Ground and Sea Platforms

DTIC Thesaurus Topics

  • Analog Computers
  • Closed Loop Systems
  • Computer Programs
  • Computer Simulations
  • Computers
  • Control Systems
  • Differential Equations
  • Equations
  • Equations Of Motion
  • Equations Of State
  • Estimators
  • Kalman Filters
  • Optimal Estimators
  • Pendulums
  • Power Supplies
  • Simulations
  • Steady State

Readers

  • Control Systems Engineering.
  • Operations Research
  • Robotics and Automation.