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Robust visual feedback control of inverted pendulum system against camera misalignment

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2 Author(s)
Hirata, K. ; Grad. Sch. of Inf. Sci., Nara Inst. of Sci. & Technol., Nara ; Mizuno, T.

In this paper, we investigate a version of robust stabilization via dynamic output feedback against affine perturbation to state space model. The motivation arises from the fact that the misalignment between the camera axis and the normal vector of the measurement plane in our visual feedback control experiment with inverted pendulum system can be modeled by this kind of perturbation. By solving related BMI, one can design a controller which tolerate the camera misalignment to some extent. The result is verified via experiments.

Published in:

Advanced Motion Control, 2008. AMC '08. 10th IEEE International Workshop on

Date of Conference:

26-28 March 2008

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