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

Akin Delibasi; Ibrahim Kucukdemiral; Galip Cansever

doi:10.1109/CIRA.2007.382831

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

Akin Delibasi, Ibrahim Kucukdemiral, Galip Cansever

Instrumentation and Control

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Proceedings of the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation
Publisher	IEEE
Pages	374-379
Number of pages	6
ISBN (Electronic)	1424407907
ISBN (Print)	1424407893
DOIs	https://doi.org/10.1109/CIRA.2007.382831
Publication status	Published - 16 Jul 2007
Event	2007 International Symposium on Computational Intelligence in Robotics and Automation - Jacksonville, FL, United States Duration: 20 Jun 2007 → 23 Jun 2007

Conference

Conference	2007 International Symposium on Computational Intelligence in Robotics and Automation
Abbreviated title	CIRA 2007
Country/Territory	United States
City	Jacksonville, FL
Period	20/06/07 → 23/06/07

Keywords

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

Documents and Links

10.1109/CIRA.2007.382831

Cite this

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

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.",

keywords = "robust control, three-term control, control systems, nonlinear control systems, symmetric matrices, robust stability, Optimal Control, proportional control, state feedback, time varying systems",

author = "Akin Delibasi and Ibrahim Kucukdemiral and Galip Cansever",

year = "2007",

month = jul,

day = "16",

doi = "10.1109/CIRA.2007.382831",

language = "English",

isbn = "1424407893",

pages = "374--379",

booktitle = "Proceedings of the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation",

publisher = "IEEE",

address = "United States",

note = "2007 International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2007 ; Conference date: 20-06-2007 Through 23-06-2007",

}

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. IEEE, pp. 374-379, 2007 International Symposium on Computational Intelligence in Robotics and Automation, Jacksonville, FL, United States, 20/06/07. https://doi.org/10.1109/CIRA.2007.382831

A Robust PID like state-feedback control via LMI approach: an application on a double inverted pendulum system. / Delibasi, Akin; Kucukdemiral, Ibrahim; Cansever, Galip.
Proceedings of the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation. IEEE, 2007. p. 374-379.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - A Robust PID like state-feedback control via LMI approach: an application on a double inverted pendulum system

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N2 - 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.

AB - 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.

KW - robust control

KW - three-term control

KW - control systems

KW - nonlinear control systems

KW - symmetric matrices

KW - robust stability

KW - Optimal Control

KW - proportional control

KW - state feedback

KW - time varying systems

U2 - 10.1109/CIRA.2007.382831

DO - 10.1109/CIRA.2007.382831

M3 - Conference contribution

SN - 1424407893

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BT - Proceedings of the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation

PB - IEEE

T2 - 2007 International Symposium on Computational Intelligence in Robotics and Automation

Y2 - 20 June 2007 through 23 June 2007

ER -

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

Abstract

Conference

Keywords

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