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Multivariable adaptive model output following control system based on backstepping strategy and its application to parallel inverted pendulums

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4 Author(s)
Takahashi, M. ; Ariake Nat. Coll. of Technol., Omuia, Japan ; Mizumoto, I. ; Iwai, Z. ; Kohzawa, R.

In this paper, we propose a design method of an output feedback-based adaptive model output following control system based on backstepping strategy for MIMO plants. It is shown that the proposed adaptive control system has robustness with regard to output-dependent disturbances. Further, the proposed adaptive control method is applied to the parallel inverted pendulums with output-dependent disturbances and the effectiveness of the control system is confirmed through experiments

Published in:

Control Applications, 1999. Proceedings of the 1999 IEEE International Conference on  (Volume:2 )

Date of Conference:

1999