A Robust PID like state-feedback control via LMI approach: an application on a double inverted pendulum system

Akin Delibasi, Ibrahim Kucukdemiral, Galip Cansever

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper addresses the design method for robust PID like controllers which guarantee the quadratic stability, performance in terms of H2 and H infinity specifications, pole locations and maximum output control. The approach is based on the transformation of the PID controller design problem to that of state feedback controller design thereby the convex optimization approaches can be adapted. Real time experimental results on a double inverted pendulum system demonstrates the validity and applicability of the proposed approach.
Original languageEnglish
Title of host publicationProceedings of the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation
PublisherIEEE
Pages374-379
Number of pages6
ISBN (Electronic)1424407907
ISBN (Print)1424407893
DOIs
Publication statusPublished - 16 Jul 2007

Keywords

  • robust control
  • three-term control
  • control systems
  • nonlinear control systems
  • symmetric matrices
  • robust stability
  • Optimal Control
  • proportional control
  • state feedback
  • time varying systems

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    Delibasi, A., Kucukdemiral, I., & Cansever, G. (2007). A Robust PID like state-feedback control via LMI approach: an application on a double inverted pendulum system. In Proceedings of the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation (pp. 374-379). IEEE. https://doi.org/10.1109/CIRA.2007.382831