Periodic control for the cart pendulum system with structured uncertainty

Authors

ARINDAM CHAKRABORTY
JAYATI DEY

DOI

10.3906/elk-1411-57

Abstract

The robust stabilization of the cart pendulum system was studied under structured uncertainty with a continuous-time periodic controller. The cart pendulum system was considered here as the test set-up as it is a well-known example of an unstable nonminimum phase system. The uncertainty in the system rose due to measurement error or dry friction in it. In this paper, the robust stability of the periodic controller in the presence of uncertainty was examined. The gain margin and delay margin endow with the periodic controller were superior to those obtained in the case of linear time invariant (LTI) control even in the presence of such uncertainties.

Keywords

Uncertainty, periodic controller, robust stability, gain margin, delay margin, dry friction

First Page

140

Last Page

154

Recommended Citation

CHAKRABORTY, ARINDAM and DEY, JAYATI (2017) "Periodic control for the cart pendulum system with structured uncertainty," Turkish Journal of Electrical Engineering and Computer Sciences: Vol. 25: No. 1, Article 11. https://doi.org/10.3906/elk-1411-57
Available at: https://journals.tubitak.gov.tr/elektrik/vol25/iss1/11