Stabilization of the cart-inverted-pendulum system using trivial state-feedback to output-feedback control conversion
A new linear observer-free output-feedback controller with five adjustable parameters is proposed to stabilize the cart-inverted-pendulum system (CIP) at the unstable equilibrium point. The controller architecture is deduced from a trivial conversion of the linear state-feedback controller that is o...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Taylor & Francis Group
2022-12-01
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| Series: | Automatika |
| Subjects: | |
| Online Access: | https://www.tandfonline.com/doi/10.1080/00051144.2022.2059950 |
| _version_ | 1818041657444007936 |
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| author | Lotfi Messikh El-Hadi Guechi Fayçal Bourahala Sašo Blažič |
| author_facet | Lotfi Messikh El-Hadi Guechi Fayçal Bourahala Sašo Blažič |
| author_sort | Lotfi Messikh |
| collection | DOAJ |
| description | A new linear observer-free output-feedback controller with five adjustable parameters is proposed to stabilize the cart-inverted-pendulum system (CIP) at the unstable equilibrium point. The controller architecture is deduced from a trivial conversion of the linear state-feedback controller that is obtained using a two-step method. First, based on a set of cart change variables, a slightly modified state-feedback controller is developed. Then, the output-feedback controller is obtained through the judicious combination of the cart step reference input internal model and a convenient open-loop state estimator with the above modified state-feedback controller. The local stability of the output-based control system is conducted using the signature formulas method to get simplified conditions. A partial single parameter tuning method and optimal global single parameter tuning method are proposed for adjusting the controller gains to maximize a new efficiency-based objective function. Numerical simulations are first conducted to reveal the simplicity of output-feedback controller design using the partial tuning method, where the state-feedback gains are assumed to be known. Then, an optimal output-feedback controller is designed using the global tuning method. The proposed output-feedback controller is equivalent in terms of performance efficiency to the best five-parameter output-feedback two PID controller. |
| first_indexed | 2024-12-10T08:33:54Z |
| format | Article |
| id | doaj.art-a5260d5c6ed4480dae1c83c9ddfe3015 |
| institution | Directory Open Access Journal |
| issn | 0005-1144 1848-3380 |
| language | English |
| last_indexed | 2024-12-10T08:33:54Z |
| publishDate | 2022-12-01 |
| publisher | Taylor & Francis Group |
| record_format | Article |
| series | Automatika |
| spelling | doaj.art-a5260d5c6ed4480dae1c83c9ddfe30152022-12-22T01:56:02ZengTaylor & Francis GroupAutomatika0005-11441848-33802022-12-0163464065510.1080/00051144.2022.2059950Stabilization of the cart-inverted-pendulum system using trivial state-feedback to output-feedback control conversionLotfi Messikh0El-Hadi Guechi1Fayçal Bourahala2Sašo Blažič3Faculté de Technologie, Département de Génie Électrique, Laboratoire d’Automatique de Skikda (LAS), Université 20 Août 1955 - Skikda, Skikda, AlgérieFaculté de Technologie, Département de Génie Électrique, Laboratoire d’Automatique de Skikda (LAS), Université 20 Août 1955 - Skikda, Skikda, AlgérieFaculté de Technologie, Département de Génie Électrique, Laboratoire d’Automatique de Skikda (LAS), Université 20 Août 1955 - Skikda, Skikda, AlgérieFaculty of Electrical Engineering, University of Ljubljana, Ljubljana, SloveniaA new linear observer-free output-feedback controller with five adjustable parameters is proposed to stabilize the cart-inverted-pendulum system (CIP) at the unstable equilibrium point. The controller architecture is deduced from a trivial conversion of the linear state-feedback controller that is obtained using a two-step method. First, based on a set of cart change variables, a slightly modified state-feedback controller is developed. Then, the output-feedback controller is obtained through the judicious combination of the cart step reference input internal model and a convenient open-loop state estimator with the above modified state-feedback controller. The local stability of the output-based control system is conducted using the signature formulas method to get simplified conditions. A partial single parameter tuning method and optimal global single parameter tuning method are proposed for adjusting the controller gains to maximize a new efficiency-based objective function. Numerical simulations are first conducted to reveal the simplicity of output-feedback controller design using the partial tuning method, where the state-feedback gains are assumed to be known. Then, an optimal output-feedback controller is designed using the global tuning method. The proposed output-feedback controller is equivalent in terms of performance efficiency to the best five-parameter output-feedback two PID controller.https://www.tandfonline.com/doi/10.1080/00051144.2022.2059950Cart-inverted-pendulum (CIP) systemstatic state-feedback controldynamic output-feedback controlsignature formulas stability analysisoutput-feedback two PID controller |
| spellingShingle | Lotfi Messikh El-Hadi Guechi Fayçal Bourahala Sašo Blažič Stabilization of the cart-inverted-pendulum system using trivial state-feedback to output-feedback control conversion Automatika Cart-inverted-pendulum (CIP) system static state-feedback control dynamic output-feedback control signature formulas stability analysis output-feedback two PID controller |
| title | Stabilization of the cart-inverted-pendulum system using trivial state-feedback to output-feedback control conversion |
| title_full | Stabilization of the cart-inverted-pendulum system using trivial state-feedback to output-feedback control conversion |
| title_fullStr | Stabilization of the cart-inverted-pendulum system using trivial state-feedback to output-feedback control conversion |
| title_full_unstemmed | Stabilization of the cart-inverted-pendulum system using trivial state-feedback to output-feedback control conversion |
| title_short | Stabilization of the cart-inverted-pendulum system using trivial state-feedback to output-feedback control conversion |
| title_sort | stabilization of the cart inverted pendulum system using trivial state feedback to output feedback control conversion |
| topic | Cart-inverted-pendulum (CIP) system static state-feedback control dynamic output-feedback control signature formulas stability analysis output-feedback two PID controller |
| url | https://www.tandfonline.com/doi/10.1080/00051144.2022.2059950 |
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