OUTPUT FEEDBACK DESIGN OF A TWIN PENDULUM SYSTEM IN PRESENCE OF SENSOR BIAS

摘要

In this paper, an existing state feedback design for swing-up and stabilization of the twin-pendulum system is revisited in order to obtain a dynamic output feedback by means of an adaptive observer. In addition to unmeasured components of the state, this observer recovers potential constant bias that may affect the sensor outputs. Convergence analysis is proposed for the estimation scheme and the performance of the overall closed-loop system is illustrated through relevant simulations including unmeasured, constant and slowly variable sensor bias.