Finite-Time State Estimation for an Inverted Pendulum under Input-Multiplicative Uncertainty

A sliding mode observer is presented, which is rigorously proven to achieve finite-time state estimation of a dual-parallel underactuated (i.e., single-input multi-output) cart inverted pendulum system in the presence of parametric uncertainty. A salient feature of the proposed sliding mode observer design is that a rigorous analysis is provided, which proves finite-time estimation of the complete system state in the presence of input-multiplicative parametric uncertainty. The performance of the proposed observer design is demonstrated through numerical case studies using both sliding mode control (SMC)- and linear quadratic regulator (LQR)-based closed-loop control systems. The main contribution presented here is the rigorous analysis of the finite-time state estimator under input-multiplicative parametric uncertainty in addition to a comparative numerical study that quantifies the performance improvement that is achieved by formally incorporating the proposed compensator for input-multiplicative parametric uncertainty in the observer. In summary, our results show performance improvements when applied to both SMC- and LQR-based control systems, with results that include a reduction in the root-mean square error of up to 39% in translational regulation control and a reduction of up to 29% in pendulum angular control

Finite-Time State Estimation for an Inverted Pendulum under Input-Multiplicative Uncertainty

A sliding mode observer is presented, which is rigorously proven to achieve finite-time state estimation of a dual-parallel underactuated (i.e., single-input multi-output) cart inverted pendulum system in the presence of parametric uncertainty. A salient feature of the proposed sliding mode observer design is that a rigorous analysis is provided, which proves finite-time estimation of the complete system state in the presence of input-multiplicative parametric uncertainty. The performance of the proposed observer design is demonstrated through numerical case studies using both sliding mode control (SMC)- and linear quadratic regulator (LQR)-based closed-loop control systems. The main contribution presented here is the rigorous analysis of the finite-time state estimator under input-multiplicative parametric uncertainty in addition to a comparative numerical study that quantifies the performance improvement that is achieved by formally incorporating the proposed compensator for input-multiplicative parametric uncertainty in the observer. In summary, our results show performance improvements when applied to both SMC- and LQR-based control systems, with results that include a reduction in the root-mean square error of up to 39% in translational regulation control and a reduction of up to 29% in pendulum angular control

Advanced Knowledge Application in Practice

The integration and interdependency of the world economy leads towards the creation of a global market that offers more opportunities, but is also more complex and competitive than ever before. Therefore widespread research activity is necessary if one is to remain successful on the market. This book is the result of research and development activities from a number of researchers worldwide, covering concrete fields of research

OBSERVER-BASED-CONTROLLER FOR INVERTED PENDULUM MODEL

This paper presents a state space control technique for inverted pendulum system. The system is a common classical control problem that has been widely used to test multiple control algorithms because of its nonlinear and unstable behavior. Full state feedback based on pole placement and optimal control is applied to the inverted pendulum system to achieve desired design specification which are 4 seconds settling time and 5% overshoot. The simulation and optimization of the full state feedback controller based on pole placement and optimal control techniques as well as the performance comparison between these techniques is described comprehensively. The comparison is made to choose the most suitable technique for the system that have the best trade-off between settling time and overshoot. Besides that, the observer design is analyzed to see the effect of pole location and noise present in the system

A Review of Resonant Converter Control Techniques and The Performances

paper first discusses each control technique and then gives experimental results and/or performance to highlights their merits. The resonant converter used as a case study is not specified to just single topology instead it used few topologies such as series-parallel resonant converter (SPRC), LCC resonant converter and parallel resonant converter (PRC). On the other hand, the control techniques presented in this paper are self-sustained phase shift modulation (SSPSM) control, self-oscillating power factor control, magnetic control and the H-∞ robust control technique

A Review of Resonant Converter Control Techniques and The Performances

paper first discusses each control technique and then gives experimental results and/or performance to highlights their merits. The resonant converter used as a case study is not specified to just single topology instead it used few topologies such as series-parallel resonant converter (SPRC), LCC resonant converter and parallel resonant converter (PRC). On the other hand, the control techniques presented in this paper are self-sustained phase shift modulation (SSPSM) control, self-oscillating power factor control, magnetic control and the H-∞ robust control technique

State-Feedback Controller Based on Pole Placement Technique for Inverted Pendulum System

This paper presents a state space control technique for inverted pendulum system using simulation and real experiment via MATLAB/SIMULINK software. The inverted pendulum is difficult system to control in the field of control engineering. It is also one of the most important classical control system problems because of its nonlinear characteristics and unstable system. It has three main problems that always appear in control application which are nonlinear system, unstable and non-minimumbehavior phase system. This project will apply state feedback controller based on pole placement technique which is capable in stabilizing the practical based inverted pendulum at vertical position. Desired design specifications which are 4 seconds settling time and 5 % overshoot is needed to apply in full state feedback controller based on pole placement technique. First of all, the mathematical model of an inverted pendulum system is derived to obtain the state space representation of the system. Then, the design phase of the State-Feedback Controller can be conducted after linearization technique is performed to the nonlinear equation with the aid of mathematical aided software such as Mathcad. After that, the design is simulated using MATLAB/Simulink software. The controller design of the inverted pendulum system is verified using simulation and experiment test. Finally the controller design is compared with PID controller for benchmarking purpose

Enhancing the bees algorithm using the traplining metaphor

This work aims to improve the performance of the Bees Algorithm (BA), particularly in terms of simplicity, accuracy, and convergence. Three improvements were made in this study as a result of bees’ traplining behaviour. The first improvement was the parameter reduction of the Bees Algorithm. This strategy recruits and assigns worker bees to exploit and explore all patches. Both searching processes are assigned using the Triangular Distribution Random Number Generator. The most promising patches have more workers and are subject to more exploitation than the less productive patches. This technique reduced the original parameters into two parameters. The results show that the Bi-BA is just as efficient as the basic BA, although it has fewer parameters. Following that, another improvement was proposed to increase the diversification performance of the Combinatorial Bees Algorithm (CBA). The technique employs a novel constructive heuristic that considers the distance and the turning angle of the bees’ flight. When foraging for honey, bees generally avoid making a sharp turn. By including this turning angle as the second consideration, it can control CBA’s initial solution diversity. Third, the CBA is strengthened to enable an intensification strategy that avoids falling into a local optima trap. The approach is based on the behaviour of bees when confronted with threats. They will keep away from re-visiting those flowers during the next bout for reasons like predators, rivals, or honey run out. The approach will remove temporarily threatened flowers from the whole tour, eliminating the sharp turn, and reintroduces them again to the habitual tour’s nearest edge. The technique could effectively achieve an equilibrium between exploration and exploitation mechanisms. The results show that the strategy is very competitive compared to other population-based nature-inspired algorithms. Finally, the enhanced Bees Algorithms are demonstrated on two real-world engineering problems, namely, Printed Circuit Board insertion sequencing and vehicles routing problem

Real-Time Optimal Control Technique of A Rotary Inverted Pendulum System

This paper presents a real time control technique to stabilize inverted pendulum in the vertical upright position. Stabilize the inverted pendulum is a classical control problem that could be related to some problems in industrial applications. Two common problems that always been encountered by inverted pendulum system is unstable behavior and nonlinear. This lead to numerous studies on the control algorithm to balance the inverted pendulum system in the vertical upright position. Generally, inverted pendulum is mounted on DC motor and is equipped with sensor to measure angular displacement. Inverted pendulum has the same analogy with human that try to balance a broomstick using fingertip. Balancing the Inverted Pendulum requires a good control system. Therefore an optimal control technique is proposed to achieve desired design requirement which are less than 5% overshoot and less than 5 seconds settling time. The controller is optimized to achieve the best performance result. Finally the performance of the controller is compared with PID controller as a benchmark