Experimental Verification of Dual-Range Linear Controller on Nonlinear Unstable System


This work demonstrate the application of dual-range linear controller design on a nonlinear unstable test rig. Test rig is made up from inverted pendulum driven by servo motor. Controller design procedure first involved stabilizing the unstable system, followed by dual-range controller design. Dual-range controller design is based on generating sinusoidal input describing function models of the stabilized plant, and controller design involved application of nonlinear optimization technique. Output is then compared with single-range controller.

  • Abstract
  • Key Words
  • 1 Introduction
  • 2 Description of Controller Design Procedure
  • 3 Summary and Conclusion
  • References

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