TP model transformation based controller design for the parallel-type double inverted pendulum

Szabolcs Nagy, Zoltán Petres, P. Baranyi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

The main objective of the paper is to present a non-heuristic, mathematically well defined control design to the parallel-type double inverted pendulum. First we apply the recently proposed TP model transformation to generate a finite element convex polytopic representation, namely a Tensor Product model representation (that is equivalent with a kind of TS fuzzy model) of the derived quasi linear parameter varying model of the pendulum system. Then we apply linear matrix inequalities under the parallel distributed compensation control design framework to derive decay rate control with constrain on the control value. Since both steps are executable numerically and automatically one after other, we perform a uniform, tractable and straightforward control design to the pendulum system. In order to validate the resulting controller the paper also presents numerical simulations.

Original languageEnglish
Title of host publicationIEEE International Conference on Fuzzy Systems
Pages1374-1380
Number of pages7
DOIs
Publication statusPublished - 2008
Event2008 IEEE International Conference on Fuzzy Systems, FUZZ 2008 - Hong Kong, China
Duration: Jun 1 2008Jun 6 2008

Other

Other2008 IEEE International Conference on Fuzzy Systems, FUZZ 2008
CountryChina
CityHong Kong
Period6/1/086/6/08

Fingerprint

Inverted Pendulum
Model Transformation
Pendulums
Control Design
Controller Design
Pendulum
Controllers
Product Model
Rate Control
Fuzzy Model
Decay Rate
Tensor Product
Matrix Inequality
Well-defined
Linear Inequalities
Finite Element
Controller
Numerical Simulation
Linear matrix inequalities
Tensors

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Applied Mathematics
  • Theoretical Computer Science

Cite this

Nagy, S., Petres, Z., & Baranyi, P. (2008). TP model transformation based controller design for the parallel-type double inverted pendulum. In IEEE International Conference on Fuzzy Systems (pp. 1374-1380). [4630551] https://doi.org/10.1109/FUZZY.2008.4630551

TP model transformation based controller design for the parallel-type double inverted pendulum. / Nagy, Szabolcs; Petres, Zoltán; Baranyi, P.

IEEE International Conference on Fuzzy Systems. 2008. p. 1374-1380 4630551.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nagy, S, Petres, Z & Baranyi, P 2008, TP model transformation based controller design for the parallel-type double inverted pendulum. in IEEE International Conference on Fuzzy Systems., 4630551, pp. 1374-1380, 2008 IEEE International Conference on Fuzzy Systems, FUZZ 2008, Hong Kong, China, 6/1/08. https://doi.org/10.1109/FUZZY.2008.4630551
Nagy S, Petres Z, Baranyi P. TP model transformation based controller design for the parallel-type double inverted pendulum. In IEEE International Conference on Fuzzy Systems. 2008. p. 1374-1380. 4630551 https://doi.org/10.1109/FUZZY.2008.4630551
Nagy, Szabolcs ; Petres, Zoltán ; Baranyi, P. / TP model transformation based controller design for the parallel-type double inverted pendulum. IEEE International Conference on Fuzzy Systems. 2008. pp. 1374-1380
@inproceedings{cfdea25c02b142da8e00df5be819c4fe,
title = "TP model transformation based controller design for the parallel-type double inverted pendulum",
abstract = "The main objective of the paper is to present a non-heuristic, mathematically well defined control design to the parallel-type double inverted pendulum. First we apply the recently proposed TP model transformation to generate a finite element convex polytopic representation, namely a Tensor Product model representation (that is equivalent with a kind of TS fuzzy model) of the derived quasi linear parameter varying model of the pendulum system. Then we apply linear matrix inequalities under the parallel distributed compensation control design framework to derive decay rate control with constrain on the control value. Since both steps are executable numerically and automatically one after other, we perform a uniform, tractable and straightforward control design to the pendulum system. In order to validate the resulting controller the paper also presents numerical simulations.",
author = "Szabolcs Nagy and Zolt{\'a}n Petres and P. Baranyi",
year = "2008",
doi = "10.1109/FUZZY.2008.4630551",
language = "English",
isbn = "9781424418190",
pages = "1374--1380",
booktitle = "IEEE International Conference on Fuzzy Systems",

}

TY - GEN

T1 - TP model transformation based controller design for the parallel-type double inverted pendulum

AU - Nagy, Szabolcs

AU - Petres, Zoltán

AU - Baranyi, P.

PY - 2008

Y1 - 2008

N2 - The main objective of the paper is to present a non-heuristic, mathematically well defined control design to the parallel-type double inverted pendulum. First we apply the recently proposed TP model transformation to generate a finite element convex polytopic representation, namely a Tensor Product model representation (that is equivalent with a kind of TS fuzzy model) of the derived quasi linear parameter varying model of the pendulum system. Then we apply linear matrix inequalities under the parallel distributed compensation control design framework to derive decay rate control with constrain on the control value. Since both steps are executable numerically and automatically one after other, we perform a uniform, tractable and straightforward control design to the pendulum system. In order to validate the resulting controller the paper also presents numerical simulations.

AB - The main objective of the paper is to present a non-heuristic, mathematically well defined control design to the parallel-type double inverted pendulum. First we apply the recently proposed TP model transformation to generate a finite element convex polytopic representation, namely a Tensor Product model representation (that is equivalent with a kind of TS fuzzy model) of the derived quasi linear parameter varying model of the pendulum system. Then we apply linear matrix inequalities under the parallel distributed compensation control design framework to derive decay rate control with constrain on the control value. Since both steps are executable numerically and automatically one after other, we perform a uniform, tractable and straightforward control design to the pendulum system. In order to validate the resulting controller the paper also presents numerical simulations.

UR - http://www.scopus.com/inward/record.url?scp=55249106172&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=55249106172&partnerID=8YFLogxK

U2 - 10.1109/FUZZY.2008.4630551

DO - 10.1109/FUZZY.2008.4630551

M3 - Conference contribution

AN - SCOPUS:55249106172

SN - 9781424418190

SP - 1374

EP - 1380

BT - IEEE International Conference on Fuzzy Systems

ER -