A Case Study on Analytical Analysis of the Inverted Pendulum Real-Time Control System

Abstract

An inverted pendulum has been used as the controlled device in a prototype real-time control system employing the Simplex (trademark) architecture. In this report, we address the control issues of such a system in an analytic way. In particular, an analytic model of the system is derived; control algorithms are designed for the baseline control, experimental control and safety control based on the concept of analytic redundancy; the safety region is obtained as the stability region of the system under the safety control; and the control switching logic is established to provide fault tolerant functionality. Finally, the results obtained and the lessons learned are summarized, and future work is discussed.

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Document Details

Document Type
Technical Report
Publication Date
Nov 01, 1999
Accession Number
ADA373286

Entities

People

  • Danbing Seto
  • Lui R. Sha

Organizations

  • Carnegie Mellon University

Tags

Communities of Interest

  • C4I
  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Algorithms
  • Case Studies
  • Closed Loop Systems
  • Computing System Architectures
  • Control Systems
  • Dc Motors
  • Department Of Defense
  • Digital Filters
  • Engineering
  • Equations
  • Lessons Learned
  • Lyapunov Functions
  • Potential Energy
  • Redundancy
  • Software Development
  • Steady State
  • Switching

Fields of Study

  • Engineering

Readers

  • Calculus or Mathematical Analysis
  • Parallel and Distributed Computing.
  • Software Engineering