Nonlinear observers-based state feedbak control : Applocation to an inverted pendulum
Joint Authors
Msahli, Fawzi
Gaaloul, Abd al-Rauf
Source
Journal of Automation and Systems Engineering
Issue
Vol. 2, Issue 1 (31 Mar. 2008)16 p.
Publisher
Publication Date
2008-03-31
Country of Publication
Algeria
No. of Pages
16
Main Subjects
Topics
Abstract EN
In this we present a robust high gain output feedback control for a class of uniformly observable and controllable nonlinear systems.
Our main goal here is to apply an output feedback controller which regulates the output of the plant to a constant reference, while the smooth state feedback control law is constructed based on the use of a high gain sliding mode controller, the estimation of the non measured states is carried out by a sliding mode observer which is compared to a high gain observer, it's shown that the resulting closed loop is asymptotically stable, and the performance recovery includes asymptotic stability of the origin, the region of attraction and trajectories, furthermore, the system equation is augmented through a filtered integral action which is incorporated into the control law to ensure asymptotic rejection of step like states and/or output disturbance, and measurement noise.
As a particular application, we consider the open loop unstable inverted pendulum on a cart ; finally, computer simulations are developed for showing the robustness of the controller including sliding mode observer against step like disturbance, noisy measurements and parametric uncertainties.
American Psychological Association (APA)
Gaaloul, Abd al-Rauf& Msahli, Fawzi. 2008. Nonlinear observers-based state feedbak control : Applocation to an inverted pendulum. Journal of Automation and Systems Engineering،Vol. 2, no. 1.
https://search.emarefa.net/detail/BIM-184540
Modern Language Association (MLA)
Gaaloul, Abd al-Rauf& Msahli, Fawzi. Nonlinear observers-based state feedbak control : Applocation to an inverted pendulum. Journal of Automation and Systems Engineering Vol. 2, no. 1 (Mar. 2008).
https://search.emarefa.net/detail/BIM-184540
American Medical Association (AMA)
Gaaloul, Abd al-Rauf& Msahli, Fawzi. Nonlinear observers-based state feedbak control : Applocation to an inverted pendulum. Journal of Automation and Systems Engineering. 2008. Vol. 2, no. 1.
https://search.emarefa.net/detail/BIM-184540
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references.
Record ID
BIM-184540