By Topic

Control under constraints: an application of the command governor approach to an inverted pendulum

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
A. Casavola ; Univ. della Calabria, Rende, Italy ; E. Mosca ; M. Papini

The purpose of this paper is to exhibit the relevance of command governor (CG) strategies in real control problems, where consideration has to be given to nonlinearities, model uncertainties, disturbances, input and state-related constraints and requirements of moderate computational complexity. The plant considered is a laboratory cart/rod inverted pendulum for which the control problem consists of regulating vertically its rod subject to motor voltage and rod angle constraints, while providing full-range optimized tracking performance for the cart position. The merits of the proposed CG technique in this application are investigated, and its advantages over classic linear time-invariant design methods are discussed.

Published in:

IEEE Transactions on Control Systems Technology  (Volume:12 ,  Issue: 1 )