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Experimental Evaluation of Strictly Proper Approximation of State Predictor for Inverted Pendulum
Author(s) -
Abe Naoto,
Ohnuki Yusuke
Publication year - 2010
Publication title -
ieej transactions on electrical and electronic engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.254
H-Index - 30
eISSN - 1931-4981
pISSN - 1931-4973
DOI - 10.1002/tee.20522
Subject(s) - inverted pendulum , control theory (sociology) , state (computer science) , control (management) , mathematics , state dependent , pendulum , computer science , engineering , physics , nonlinear system , algorithm , mathematical economics , artificial intelligence , quantum mechanics , mechanical engineering
This paper presents the experimental results for an inverted pendulum with time delay. A stabilized control law is constructed with the optimal regulator and distributed delay control. Numerical approximation of the distributed delay part gives rise to an unstable closed‐loop response. The problem was solved by using the strictly proper approximation reported by Mirkin in 2004. It is shown that the inverted pendulum with time delay is stabilized by the distributed delay control laws with the strictly proper approximation experimentally. The effectiveness and practical use of the method are discussed. Copyright © 2010 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.