Nonovershooting Regulation of an Under-Sensed and Under-Actuated Linear Inverted Pendulum

摘要

This paper studies a nonovershooting regulation problem of an under-sensed and under-actuated system using two-degree-of-freedom (2DOF) control. An under-sensed and under-actuated linear inverted pendulum, which only has a single position sensor unlike the standard set-up, is investigated. For this system, first we present a regulation task that comprises three requirements, namely a nonovershooting step response, the largest robust stability margin and a 2DOF controller of the minimum order. Then we study the issue of controller design and develop a fourth-order 2DOF controller via the Youla-parameterization and the loop-shaping approaches. Finally, the proposed 2DOF controller is demonstrated to be effective.