제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Control of Inverted Pendulum Using Continuous Time Deadbeat Control

  • Lee, Ho-Jin (Division of Electronic and Information Communication Engineering, Kwandong University) ;
  • Kim, Seung-Youal (Division of Electronic and Information Communication Engineering, Kwandong University) ;
  • Lee, Jung-Kook (Division of Electronic and Information Communication Engineering, Kwandong University) ;
  • Kim, Jin-Yong (Division of Electronic and Information Communication Engineering, Kwandong University) ;
  • Lee, Seung-Hwan (Division of Electronic and Information Communication Engineering, Kwandong University) ;
  • Lee, Keum-Won (Division of Electronic and Information Communication Engineering, Kwandong University) ;
  • Lee, Jun-Mo (Division of Electronic and Information Communication Engineering, Kwandong University)
  • Published : 2005.06.02
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Abstract

Due to the asymptotic property, deadbeat control can hardly be applied to the continuous time system control. But some delay element method can deal such a problem. Besides delay element method, well-known digital deadbeat control can be used by the aid of some smoothing elements. In this paper, 2nd order smoothing element is used for the smoothing of the digital deadbeat controller. And this element is argumented to the plant, and so control problem is to control the argumented system digitally. We simulated this control system using Matlab language and finally apply this algorithm to the rotary inverted pendulum system.

Keywords