Implementation of servo systems for controlling a double purposenonlinear plant: inverted pendulum and crane

摘要

This paper develops design procedures of proportional-integralservo systems (SSs) for controlling a double purpose nonlinear plant: aninverted pendulum (IP) and crane. Such a plant can be described bynonlinear differential equations, where the nonlinear terms complicatethe analytical aspects of modeling and controller design. However, basedon the linearized plant model, one can configure discrete-time SSs bycombining linear controllers with linear observers. Experimental resultsdemonstrate that each SS is able to stabilize an IP (or a crane) mountedon a servomotor-driven cart. Three SSs configurations are developed: asteady-state quadratic optimal controller with a quadratic optimal stateobserver, a pole placement controller (PPC) with a full-order stateobserver, and a PPC with a minimum-order state observer