Stabilization of the cart-inverted-pendulum system using trivial state-feedback to output-feedback control conversion

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dc.contributor.authorMessikh Lotfi
dc.contributor.authorGuechi El-Hadi
dc.contributor.authorBourahala Fayçal
dc.contributor.authorSašo Blažič
dc.date.accessioned2024-05-20T13:54:55Z
dc.date.available2024-05-20T13:54:55Z
dc.date.issued2022-04-15
dc.description.abstractA 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.
dc.identifier.other63:4, 640-655
dc.identifier.urihttp://dspace.univ-skikda.dz:4000/handle/123456789/1781
dc.language.isoen
dc.publisherAutomatika
dc.titleStabilization of the cart-inverted-pendulum system using trivial state-feedback to output-feedback control conversion
dc.typeArticle
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