Applying Delay-dependent Stability Criteria to the Control of an Inverted Pendulum with Input Delay
Date Issued
2005
Date
2005
Author(s)
Lin, Chun-Pi
DOI
zh-TW
Abstract
In this thesis, several delay-dependent stability criteria are used to analyze the stability of an inverted pendulum system with input delay. The conservatism of these stability criteria is discussed.
A delay-dependent stability criterion in terms of linear matrix inequalities is modified to become a state feedback controller design method for stabilizing the inverted pendulum system with input delay. Some constraints are added to restrict the solution set so that the resultant state feedback controller can deal with the friction factor in the system. The experiment results show that the proposed method is effective.
Subjects
時延系統
穩定性
倒單擺
線性矩陣不等式
time-delay system
stability
inverted pendulum
linear matrix inequality
Type
thesis