Quasi-Optimization of Certain Parameters for Parallel Inverted Pendulum Systems via Integrated Design of Structure/Controller

• Ishii Chiharu

  Kogakuin University

• Ishizuka Yousuke

  Kogakuin University

• Hashimoto Hiroshi

  Tokyo University of Technology

• Yamamoto Shigehiko

  Kogakuin University

Abstract

Main contribution of this paper is to give a method to determine position of center of gravity of two pendulums for parallel inverted pendulum systems in a sense of suitable for control from a viewpoint of integrated design of structure/controller. A state feedback gain and structural parameters are determined based on LMI conditions related to a design of linear quadratic regulator.

Journal

• SICE Annual Conference Program and Abstracts

  SICE Annual Conference Program and Abstracts 2004 (0), 120-120, 2004

  The Society of Instrument and Control Engineers

Details

• CRID: 1390001205585056000
• NII Article ID: 130005440977
• DOI: 10.11499/sicep.2004.0_120_2
• Text Lang: en
• Data Source:
  • JaLC
  • CiNii Articles
• Abstract License Flag: Disallowed