Implementation of a Servosystem for the control of a dual-purpose nonlinear plant: Inverted Pendulum and Crane.

Authors

  • Arturo Rojas Moreno Facultad de Ingeniería Eléctrica y Electrónica, Universidad Nacional de Ingeniería, Lima Perú
  • Fernando Merchán Gordillo Facultad de Ingeniería Eléctrica y Electrónica, Universidad Nacional de Ingeniería, Lima Perú
  • Leonardo D. Gushiken-Gibu Facultad de Ingeniería Eléctrica y Electrónica, Universidad Nacional de Ingeniería, Lima Perú

DOI:

https://doi.org/10.21754/tecnia.v11i1.529

Abstract

This article develops design procedures for Proportional Integral Servosystems (abbreviated SS) to control a dual-purpose nonlinear plant: the Inverted Pendulum and Crane (PI&G). Said plant can be described by nonlinear differential equations,
where nonlinear terms complicate the modeling and design aspects of the controller.
However, based on the linear model of the plant, we can configure discrete SSs by combining controllers with nonlinear observers. Experimental results demonstrate that each SS is capable of stabilizing the PI (or Crane) mounted on a carriage moved by a servomotor. Three configurations of SSs are presented and discussed: an Optimal Controller
Steady State Quadratic (COCEE) with a Quadratic Optimal State Observer (OEOC), a Pole Location Controller (CUP) with a Complete Order State Observer (OEOC), and a CUP with a Minimum Order State Observer (OEOM).

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References

[1] . A. Rojas Moreno, Control Avanzado, Diseño y Aplicaciones en Tiempo Real, Independent Publication. Perú, February 2001.

[2] . K. Ogata, Designing Linear Control Systems with MATLAB, Prentice Hall, Englewood Cliffs, New Jersey 07632, 1994

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Published

2001-06-01

How to Cite

[1]
A. Rojas Moreno, F. Merchán Gordillo, and L. D. Gushiken-Gibu, “Implementation of a Servosystem for the control of a dual-purpose nonlinear plant: Inverted Pendulum and Crane”., TEC, vol. 11, no. 1, Jun. 2001.

Issue

Vol. 11 No. 1 (2001)

Section

Articles

License

Copyright (c) 2001 TECNIA

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