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This paper aims at demonstrating the effectiveness of discrete-time noncausal linear periodically time-varying scaling through control experiments with a cart inverted pendulum whose pendulum length can be set from three different values. We regard the variation in the pendulum length from its middle value as an uncertainty, which leads to a structured uncertainty on the plant model. By applying a robust performance synthesis method based on the above scaling technique to an appropriately constructed generalized plant, we demonstrate that we can successfully design a single linear periodically time-varying controller attaining high control performance regardless of the length of the pendulum.

shisutemu seigyo jouhou gakkai rombunshi/shisutemu seigyo jōhō gakkai ronbunshi

Demonstrating the Effectiveness of Robust Performance Synthesis Based on Noncausal Linear Periodically Time-Varying Scaling through Control Experiments of Cart Inverted Pendulum