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How to automatically set an initial angle for balance control of a cart-pole system: an education case
Qian, Dianwei1; Yi, Jianqiang2; Zhao, Dongbin3
Source PublicationINTERNATIONAL JOURNAL OF ELECTRICAL ENGINEERING EDUCATION
2013
Volume50Issue:1Pages:57-68
SubtypeArticle
AbstractThe cart-pole system is one of the most popular laboratory experiments for control education. Balance control of the system is usually utilised for control theory education. Inevitably, one has to set an initial pole-angle. But it is hard to accurately set the angle by hand. This paper first models the system. Then, a nonlinearity measure is introduced to analyse the control problems of the system. Afterwards, an energy-based controller is employed to automatically and accurately set the deviation for balance control, and a balance controller is subsequently utilised to stabilise the system. Physical experiments are carried out to verify the validity of this method for students.
KeywordCart-pole System Energy-based Control Nonlinearity Measure Upswing And Balance
WOS HeadingsSocial Sciences ; Science & Technology ; Technology
WOS KeywordINVERTED-PENDULUM ; STABILIZATION CONTROL ; FREQUENCY
Indexed BySCI
Language英语
WOS Research AreaEducation & Educational Research ; Engineering
WOS SubjectEducation, Scientific Disciplines ; Engineering, Electrical & Electronic
WOS IDWOS:000327130200005
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/3858
Collection复杂系统管理与控制国家重点实验室_智能化团队
Corresponding AuthorQian, Dianwei
Affiliation1.North China Elect Power Univ, Sch Control & Comp Engn, Beijing, Peoples R China
2.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China
3.Chinese Acad Sci, Inst Automat, State Key Lab Intelligent Control & Management Co, Beijing, Peoples R China
Recommended Citation
GB/T 7714
Qian, Dianwei,Yi, Jianqiang,Zhao, Dongbin. How to automatically set an initial angle for balance control of a cart-pole system: an education case[J]. INTERNATIONAL JOURNAL OF ELECTRICAL ENGINEERING EDUCATION,2013,50(1):57-68.
APA Qian, Dianwei,Yi, Jianqiang,&Zhao, Dongbin.(2013).How to automatically set an initial angle for balance control of a cart-pole system: an education case.INTERNATIONAL JOURNAL OF ELECTRICAL ENGINEERING EDUCATION,50(1),57-68.
MLA Qian, Dianwei,et al."How to automatically set an initial angle for balance control of a cart-pole system: an education case".INTERNATIONAL JOURNAL OF ELECTRICAL ENGINEERING EDUCATION 50.1(2013):57-68.
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