Assessment of linear set-point controllers for a direct drive nonlinear pendulum

L. Dritsas; A. Zagorianos; A. Pantelous; V. Tsoulkas

doi:10.1109/UKSIM.2011.46

Assessment of linear set-point controllers for a direct drive nonlinear pendulum

L. Dritsas, A. Zagorianos, A. Pantelous, V. Tsoulkas

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

Abstract

This paper is concerned with the design of linearset - point controllers for a specific nonlinear system: a motor driven pendulum. It is shown that when input constraints and delays are present, the synthesis procedure is non trivial. Even if the design is based on mature theoretical basis, extensive nonlinear simulations are the only practical way to ensure that the linear design offers acceptable tracking performance in a large operation range while respecting the requirements of input constraints and robustness.

Original language	English
Title of host publication	Proceedings - 2011 UKSim 13th International Conference on Modelling and Simulation - UKSim 2011
Editors	David Al-Dabass, Alessandra Orsoni, Richard Cant, Ajith Abraham
Place of Publication	Piscataway NJ USA
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	201-206
Number of pages	6
ISBN (Print)	9780769543765
DOIs	https://doi.org/10.1109/UKSIM.2011.46
Publication status	Published - 2011
Externally published	Yes
Event	UKSim-AMSS International Conference on Computer Modelling and Simulation (UKSim) 2011 - Cambridge, United Kingdom Duration: 30 Mar 2011 → 1 Apr 2011 Conference number: 13th

Conference

Conference	UKSim-AMSS International Conference on Computer Modelling and Simulation (UKSim) 2011
Abbreviated title	UKSim 2011
Country/Territory	United Kingdom
City	Cambridge
Period	30/03/11 → 1/04/11

Keywords

input constraint
LQR
nonlinear control
robotic manipulator
robustness
set point control
time delays

Access to Document

10.1109/UKSIM.2011.46

Cite this

Dritsas, L., Zagorianos, A., Pantelous, A., & Tsoulkas, V. (2011). Assessment of linear set-point controllers for a direct drive nonlinear pendulum. In D. Al-Dabass, A. Orsoni, R. Cant, & A. Abraham (Eds.), Proceedings - 2011 UKSim 13th International Conference on Modelling and Simulation - UKSim 2011 (pp. 201-206). [5754215] IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/UKSIM.2011.46

Dritsas, L. ; Zagorianos, A. ; Pantelous, A. et al. / Assessment of linear set-point controllers for a direct drive nonlinear pendulum. Proceedings - 2011 UKSim 13th International Conference on Modelling and Simulation - UKSim 2011. editor / David Al-Dabass ; Alessandra Orsoni ; Richard Cant ; Ajith Abraham. Piscataway NJ USA : IEEE, Institute of Electrical and Electronics Engineers, 2011. pp. 201-206

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abstract = "This paper is concerned with the design of linearset - point controllers for a specific nonlinear system: a motor driven pendulum. It is shown that when input constraints and delays are present, the synthesis procedure is non trivial. Even if the design is based on mature theoretical basis, extensive nonlinear simulations are the only practical way to ensure that the linear design offers acceptable tracking performance in a large operation range while respecting the requirements of input constraints and robustness.",

keywords = "input constraint, LQR, nonlinear control, robotic manipulator, robustness, set point control, time delays",

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publisher = "IEEE, Institute of Electrical and Electronics Engineers",

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Dritsas, L, Zagorianos, A, Pantelous, A & Tsoulkas, V 2011, Assessment of linear set-point controllers for a direct drive nonlinear pendulum. in D Al-Dabass, A Orsoni, R Cant & A Abraham (eds), Proceedings - 2011 UKSim 13th International Conference on Modelling and Simulation - UKSim 2011., 5754215, IEEE, Institute of Electrical and Electronics Engineers, Piscataway NJ USA, pp. 201-206, UKSim-AMSS International Conference on Computer Modelling and Simulation (UKSim) 2011, Cambridge, United Kingdom, 30/03/11. https://doi.org/10.1109/UKSIM.2011.46

Assessment of linear set-point controllers for a direct drive nonlinear pendulum. / Dritsas, L.; Zagorianos, A.; Pantelous, A. et al.

Proceedings - 2011 UKSim 13th International Conference on Modelling and Simulation - UKSim 2011. ed. / David Al-Dabass; Alessandra Orsoni; Richard Cant; Ajith Abraham. Piscataway NJ USA : IEEE, Institute of Electrical and Electronics Engineers, 2011. p. 201-206 5754215.

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

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Dritsas L, Zagorianos A, Pantelous A, Tsoulkas V. Assessment of linear set-point controllers for a direct drive nonlinear pendulum. In Al-Dabass D, Orsoni A, Cant R, Abraham A, editors, Proceedings - 2011 UKSim 13th International Conference on Modelling and Simulation - UKSim 2011. Piscataway NJ USA: IEEE, Institute of Electrical and Electronics Engineers. 2011. p. 201-206. 5754215 https://doi.org/10.1109/UKSIM.2011.46

Assessment of linear set-point controllers for a direct drive nonlinear pendulum

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Keywords

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