Experimental Evaluation of Strictly Proper Approximation of State Predictor for Inverted Pendulum

Authors

  • Naoto Abe,

    Member, Corresponding author
    1. Department of Mechanical Engineering Informatics, Meiji University, 1-1-1, Higashimita, Tama-ku, Kawasaki 214-8571, Japan
    • Department of Mechanical Engineering Informatics, Meiji University, 1-1-1, Higashimita, Tama-ku, Kawasaki 214-8571, Japan
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  • Yusuke Ohnuki

    Non-member
    1. Department of Mechanical Engineering Informatics, Meiji University, 1-1-1, Higashimita, Tama-ku, Kawasaki 214-8571, Japan
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Abstract

This paper presents the experimental results for an inverted pendulum with time delay. A stabilized control law is constructed with the optimal regulator and distributed delay control. Numerical approximation of the distributed delay part gives rise to an unstable closed-loop response. The problem was solved by using the strictly proper approximation reported by Mirkin in 2004. It is shown that the inverted pendulum with time delay is stabilized by the distributed delay control laws with the strictly proper approximation experimentally. The effectiveness and practical use of the method are discussed. Copyright © 2010 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.

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