LOWER-SIZE FILTERS DEVELOPMENT FOR MONITORING MOVING INVERTED PENDULUMS

Tóm tắt

This paper presents an investigation in monitoring an inverted pendulum mounted on a moving cart using a low-order filter approach. The inverted pendulum system is a classic benchmark for control system analysis and design due to its inherent instability. In this paper, a lower-size observer-based control system is developed based on theory of functional observer and full-state feedback controller form to stabilize and control the motion of the moving inverted pendulum. The designed observer offers a flexible and effective framework to reconstruct the unmeasured and acceptable variables, making it well-suited for implementation of feedback control with any strategy. The proposed control system has small size and very easy for implementation due to the filter estimate the control signals as a functional state variable rather than all state vector’s information. The effectiveness of the proposed control method is verified by comprehensive simulations