Скачать или смотреть Linear Feedback Control

Dictino Chaos and Luis de la Torre, Linear feedback control in an air levitator, mini video lecture (open educational resource in a form of "one-minute experiment"), within RELAB repository at website https://relab.kg.ac.rs, Computer Science School, UNED, 2022.

Abstract:
The Furuta Pendulum is a robotic arm with two degrees of freedom.

The pendulum can rotate an angle on a horizontal vertical plane which is not actuated. In addition, the base of the pendulum can rotate on the horizontal plane and is connected to a motor that allows to control the system.

The control challenge of this plant is to place the pendulum upwards ant stabilize it while, at the same time, the base follows a desired refence. It is difficult to stabilize the pendulum in this position because it is nonlinear, it has fast unstable dynamics and, in addition, it exhibits non-minimum phase behavior (inverse response).

In this lecture we explain the main idea of the linear feedback control applied to stabilize the pendulum in a beinghood of the unstable point and be able to follow a reference. The control law is explained with an intuitive physical interpretation and the phenomenon of inverse response is shown experimentally.

Key words: Inverted pendulum; stability; control engineering; nonlinear systems

List of references:
1. K.J. Åström, K. Furuta,Swinging up a pendulum by energy control, Automatica,Volume 36, Issue 2,2000, pp. 287-295, doi: 10.1016/S0005-1098(99)00140-5.
2. O. Boubaker, "The inverted pendulum: A fundamental benchmark in control theory and robotics," International Conference on Education and e-Learning Innovations, 2012, pp. 1-6, doi: 10.1109/ICEELI.2012.6360606.
3. D. Galan, D. Chaos, L. de la Torre, E. Aranda-Escolastico and R. Heradio, "Customized Online Laboratory Experiments: A General Tool and Its Application to the Furuta Inverted Pendulum [Focus on Education]," in IEEE Control Systems Magazine, vol. 39, no. 5, pp. 75-87, Oct. 2019, doi: 10.1109/MCS.2019.2925256.

Area(s) / Narrow area(s) / Course(s):
Control Engineering / Nonlinear Control

Subject of „One-minute experiment“
Fundamentals of control engineering

Objective:
To explain step by step what a linear feedback control is.

Purpose:
Training for understanding linear feedback controllers and the phenomenon of non-minimum phase.

Outcome:
The user’s ability to implement understand a linear feedback controller and how the non-minimum phase gives rise to unexpected behavior that must be considered in the control design.

Users: Students of control engineering subjects.