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Robust control method for the inverted pendulum system with structured uncertainty caused by measurement error

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Abstract

In this article, we propose a design method for an inverted pendulum system with a structured uncertainty. We consider that such an uncertainty is caused by a measurement error in the rotation angle of the pendulum and effects on the system structure that cannot be included in the nominal elements. For the uncertain system obtained, we apply an integral tracking control and the guaranteed cost control to design a robust, stable, tracking control system. Finally, we show the effectiveness of our method through a numerical example.

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References

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Author information

Authors and Affiliations

  1. Department of Computer Science and Systems Engineering, Faculty of Engineering, University of Miyazaki, 1-1 Gakuenkibanadai-Nishi, Miyazaki, 889-2192, Japan

    Nobuya Takahashi, Osamu Sato & Michio Kono

Authors
  1. Nobuya Takahashi
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  2. Osamu Sato
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  3. Michio Kono
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Corresponding author

Correspondence to Nobuya Takahashi.

Additional information

This work was presented in part at the 14th International Symposium on Artificial Life and Robotics, Oita, Japan, February 5–7, 2009

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Takahashi, N., Sato, O. & Kono, M. Robust control method for the inverted pendulum system with structured uncertainty caused by measurement error. Artif Life Robotics 14, 574–577 (2009). https://doi.org/10.1007/s10015-009-0748-0

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  • DOI: https://doi.org/10.1007/s10015-009-0748-0

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