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Application of coefficient diagram method for rotational inverted pendulum control

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5 Author(s)
Cahyadi, A.I. ; Fac. of Eng., King Mongkut''s Inst. of Technol. Ladkrabang, Bangkok, Thailand ; Isarakorn, D. ; Benjanarasuth, T. ; Ngamwiwit, J.
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In this paper, a design of the augmented state feedback controller by using the concept of coefficient diagram method (CDM) for a servo type of the rotational inverted pendulum system is presented. An integrator is augmented to the system due to the responses exhibiting steady-state error. In order to apply the CDM method, the augmented system must be firstly linearized and converted into controllable canonical form by a transform matrix. Then a feedback gain matrix in sense of CDM can be obtained. One can observe that the design procedure of the proposed controller is easy compared to other methods. The experimental results are shown in order to verify the effectiveness of the controller.

Published in:

Control, Automation, Robotics and Vision Conference, 2004. ICARCV 2004 8th  (Volume:3 )

Date of Conference:

6-9 Dec. 2004