Robust controller design for two wheeled inverted pendulum system
Other Title(s)
تصميم مسيطر رصين لنظام بندول مقلوب ذي عجلتين
Joint Authors
Sharif, Zayn al-Abidin Muhammad
Ali, Hazim Ibrahim
Source
al-Nahrain Journal for Engineering Sciences
Issue
Vol. 20, Issue 3 (30 Sep. 2017), pp.562-569, 8 p.
Publisher
Nahrain University College of Engineering
Publication Date
2017-09-30
Country of Publication
Iraq
No. of Pages
8
Main Subjects
Engineering & Technology Sciences (Multidisciplinary)
Abstract EN
In this paper, the design of a robust controller for two wheeled inverted pendulum (TWIP) system is presented.
In the first stage of the design, a full state feedback H2 control is designed for stabilizing the inclination of (TWIP) system to upright position.
The H∞ controller for the stabilized system is synthesized in the second stage.
The mathematical model of the system based on the Newtonian approach is developed.
The results verify that the proposed controller can compensate the system parameter uncertainty with a more desirable time response specifications
American Psychological Association (APA)
Ali, Hazim Ibrahim& Sharif, Zayn al-Abidin Muhammad. 2017. Robust controller design for two wheeled inverted pendulum system. al-Nahrain Journal for Engineering Sciences،Vol. 20, no. 3, pp.562-569.
https://search.emarefa.net/detail/BIM-849143
Modern Language Association (MLA)
Ali, Hazim Ibrahim& Sharif, Zayn al-Abidin Muhammad. Robust controller design for two wheeled inverted pendulum system. al-Nahrain Journal for Engineering Sciences Vol. 20, no. 3 (2017), pp.562-569.
https://search.emarefa.net/detail/BIM-849143
American Medical Association (AMA)
Ali, Hazim Ibrahim& Sharif, Zayn al-Abidin Muhammad. Robust controller design for two wheeled inverted pendulum system. al-Nahrain Journal for Engineering Sciences. 2017. Vol. 20, no. 3, pp.562-569.
https://search.emarefa.net/detail/BIM-849143
Data Type
Journal Articles
Language
English
Notes
Record ID
BIM-849143