Stabilization of the cart-inverted-pendulum system using trivial state-feedback to output-feedback control conversion
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Date
2022-04-15
Journal Title
Journal ISSN
Volume Title
Publisher
Automatika
Abstract
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.