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Discretization and Control of Rotating Pendulum under Lebesgue Sampling
Author(s) -
Ohsaki Hiroshi,
Iwase Masami,
Hatakeyama Shoshiro
Publication year - 2014
Publication title -
electronics and communications in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.131
H-Index - 13
eISSN - 1942-9541
pISSN - 1942-9533
DOI - 10.1002/ecj.11596
Subject(s) - discretization , control theory (sociology) , mathematics , inverted pendulum , nonlinear system , quantization (signal processing) , state observer , observer (physics) , computer science , control (management) , algorithm , mathematical analysis , artificial intelligence , physics , quantum mechanics
SUMMARY This study addresses a discretization method with Lebesgue sampling for a type of nonlinear system, and proposes a control method based on the discrete system model. A cart‐pendulum system is used as an example. Applying this control method to some real system, a crucial problem is how to implement the controller. To overcome the problem, an impulsive Luenberger observer is introduced with numerical forward mapping from the current system state to the one‐step‐ahead state by the well‐known Runge–Kutta method. As a result, a cart‐pendulum system with a rotary encoder, whose quantization interval is relatively large, can be controlled effectively. Numerical simulations are performed to verify the effectiveness of the proposed method.