The document describes the use of Loop Shaping Design Procedure (LSDP) to design a controller for stabilizing an inverted pendulum system. LSDP is a robust control design method that incorporates loop shaping and H-infinity optimization. It was used to design a controller for an inverted pendulum system with the following steps: 1) A low-pass filter was used as a pre-compensator to shape the open-loop response. 2) H-infinity optimization was performed on the shaped plant to synthesize a stabilizing controller. 3) The final feedback controller was obtained by combining the H-infinity controller with the pre-compensator. Simulation results showed the designed controller stabilized the inverted pendulum system sat
The document describes the use of Loop Shaping Design Procedure (LSDP) to design a controller for stabilizing an inverted pendulum system. LSDP is a robust control design method that incorporates loop shaping and H-infinity optimization. It was used to design a controller for an inverted pendulum system with the following steps: 1) A low-pass filter was used as a pre-compensator to shape the open-loop response. 2) H-infinity optimization was performed on the shaped plant to synthesize a stabilizing controller. 3) The final feedback controller was obtained by combining the H-infinity controller with the pre-compensator. Simulation results showed the designed controller stabilized the inverted pendulum system sat
The document describes the use of Loop Shaping Design Procedure (LSDP) to design a controller for stabilizing an inverted pendulum system. LSDP is a robust control design method that incorporates loop shaping and H-infinity optimization. It was used to design a controller for an inverted pendulum system with the following steps: 1) A low-pass filter was used as a pre-compensator to shape the open-loop response. 2) H-infinity optimization was performed on the shaped plant to synthesize a stabilizing controller. 3) The final feedback controller was obtained by combining the H-infinity controller with the pre-compensator. Simulation results showed the designed controller stabilized the inverted pendulum system sat
Proceedings of the 3d World Congress on Intelligent Control and Automation
June 28-July 2,2000, Hefei, P.R China
Stabilizing Control of an Inverted PendulumSystem Based on H- Loop Shaping Design Procedure Sek Un Cheang Wei J i Chen Faculty of Science and Technology University of Maau Macao, china Abstract - Loop Shaping Design Procedure (LSDP) is oneof the most promising fb. design procedure, which incorporates loop shaping methods to obtain performance or robust stability tradeoffs. The advantage is that LSDP does not require y- iteration for its solution, and explicit formulas for the corresponding controller are available. Many successful controllers designed by the methods obtain the satisfactory results, such as aerospace applications. In the paper, wedesign a robust controller for stabilizing an inverted pendulumsystem by LSDP. Simulation results show that the designed controller works satisfactorily. Key Words: Loop Shaping Design Procedure (LSDP), h Control, an inverted pendulum. I. LSDP Loop shaping is the classical approach in which the magnitude of the open-loop transfer function IL(jo)l is shaped. Here L(jo)=G(jo)*&(jo) where K,,(jo) is the feedback controller to be designed and G(jo) is the transfer function of the controlled system model, including the plant, the actuator and the measurement device, etc. Essentially, to get the benefits of feedback control we want the loop gain, IL(jo)l, to be as large as possible within the bandwidth region. However due to time delays, RHP-zeros, unmodelled high frequency dynamics and limitations on the allowed manipulated inputs, the ,loop gain has to drop below one at higher crossover frequency. Thus, disregarding stability for the moment, it is desirable that IL(jo)l falls sharply with frequency. Although the procedure of classical loop shaping may be extended to more complicated systems (MIMO), the effort required by the engineer is considerably greater. In particular, it may be very difficult to achieve stability. Fortunately, in 1990, McFarland and Glover proposed the loop-shaping design procedure which is based on H- robust stabjlization combined with classical loop shaping. It is essential to two stage design process. First, the open-loop plant is augmented by pre and postcompensaton to give a desired shape to the singular values of the open-loop frequency response. Then, the resulting shaped plant is robustly stabilized with respect to coprime factor uncertainty using H= optimization. An important advantage is that no problem-dependest uncertainty modeling, or weight selection, is required in this second step. Furthermore, it does not require y-iteration for its solution, and explicit formulas for the corresponding controller are available. The formulas are relatively simple and so will be presented in full. - LSDP can be summarily depicted three systematic 1) Loop Shaping : Using a pre -compensator W1and/or a post-compensator W2, the singular values of the nominal plant are shaped to give a desired open- loop shape, see Figure 1. The nominal plant G and the shaping functions Wl, W2 are combined to form the shaped plant, GI= W~GWI. The gain of the shaped plant is high at low frequencies, low at high frequencies and does not roll off at a high rate near crossover. The shaped plant G, would be expressed as a normalized left coprime factorization G,=M,N,. procedures as follows: \ n G Figure 1 Loop shaping design procedure 2) Robust Stabilization: A controller K guarantees that for a specified py,,,iw Then, the nominal feedback system is stable. 0-7803-S99S-X/oo/sIO.OO Q2000 IEEE. 3385 The lowest achievable value y,,,j,, of y and the corresponding maximumstability margin E am derived by Glover and McFarlane (1989) as where h a x denotes the spectral radius(maximum eigenvalue), and from a state-space realization (A, B, C, 0) of G,, Z and X are the unique positive definite solutions to the following algebraic Riccati equations, (3) ( A - BS - ' D~C) Z +z ( A- BS- ' D~C) ' -ZC'R-'CZ+BS-'B' = o (4) ( A - B S - ~ D ' C ~ x +X ( A - B S - ~ D ~ C ) - XBS-' BI x +C ~ R - I C =o where R =I +D D ~ , s =I +D ~ D ( 5) A controller K={ALBK.CLD~ as state-space ealization for a specified m~,, is given by where F =-S-I(D'C+ B'X) (7) L =(1 - y2) I +xz (8) 3) The final feedback controller K, is then constructed by combining the H- controller K with the shaping functions Wj and W2 such that K, =Wl KW2 (9) The designer follows the above the procedures and the typical design works are stated as follows: the open-loop singular values of the nominal plant are inspected and are shaped by pre- and/or post-compensation until nominal performance specifications are met. A feedback controller K with associated stability margin for the shaped plant &E- is then synthesized. If &- is small, then the specified loop shape is incompatible with robust stability requirements, and should be adjusted accordingly, then K isreevaluated. 3386 Figure 2 An inverted pendulum system It is important to emphasize that since we can compute "(mi. from(2). weget an explicit solution by solving just two Riccati equations (3) and (4) and avoid the yiteration needed to solve the general H- problem. 11. AN INVERTED PENDULUM An Inverted PendulumSystem(1PS) is one of the most well-known equipment in the field of control systems theory. It E inexpensive and can be easily built and installed in laboratories for control education purposes or for research applications. An inverted pendulum system on a moving cart treated in this paper is schematically sketched in Figure 2 and is cart-pole type of inverted pendulum. The pole is hinged to the cart and can be rotated in the vertical plane containing the line of the rail. The cart moves left or right on the rail by the applied control force F (N). 63 (rad) is the angles of the pole from the vertical line and r (m) is the distance of the cart from the center of the rail. Under some assumptions (FO and a=O), the mathematical model of the pendulum can be constructed based on the Lagrange equations. The , state-space equations are depicted as follows: Y =c,x where x= [r e, i. el]T U is the control signal of the system, which is the input of the servo motor. system are listed as follows: System's physical parameters of an inverted pendulum lO.0037Kg.m' IGain constant from the input voltage Go to the amplifier to the force to the cart 8.646" Equivalent viscous friction coefficient, 18.96N.m~ Viscous friction coefficient of the le, 0.002N.m~ Hence, . 0 1 0 . A , = F 0 ] -0.794 -6.814 0.003 0 42.872 27.545 -0.157 B, =[O 0 3.107 -12.561]' c, = 0 0 1 0 0 0 0 1 =)I 111. SYSTEM DESIGN FOR IPS system and the input voltage to the motor, namely maxlrl c 0.35 m, maxlq I c ~.l rud,und maxbl e 15Y Considering the design requirements of the pendulum and based on the LSDP, the selection of pre-compensator is most important design's work. For the inverted pendulum system, the proposed pre-compensator is a low pass filter. Through the low pass filter, the LSDP controller has the observation noise reduction characteristic in high frequency. Moreover, we consider the noise comes from the 50Hz power supply and raise the open loop gain of system, we define the pre-compensator Wl as follows: ,le J J .vi =s+so Furthermore, the post-compensator is selected as a constant diagonal matrix with positive constant real value to achieve the design requirements. The post-compensator is weighting matrix. Although there is no general guideline for the selection of weighting matrix, we know that the IPS is stabilized by minimizing the angle of the pole. The largest weight of e) is chosen compared with others. Finally, the extensive computer simulations have been executed. We found post-compensator Wz as, r5 o o 01 0 2 0 0 0 wz=lo 0 1 01 10 0 0 1J The loop shaping of G,=W,GWt is shown in Figure 3. Obviously, the singular value of system is large in low frequency and decrease fast in high frequency to rejecting the noise in high frequency. Figure 3 Open-loop Singular Value of Nominal Plant G and Shaped Plant Cj The lowest achievable value y,,,j. of G, isobtained as 3.622 by the algorithmderived by Glover and McFarlane (1989). The special y1.05y,,,in is chosen and the final feedback controller KS is found. The singular value of open- loop transfer function L=G*K, is drawn in Figure 4. Due to the system is sampled at a sampling period of T (3ms) and zem-order-hold method is used on the inputs and outputs for each sampling period. The stateapace discrete representation of feedback controller &J (AM, &d, &, &J ) is shown as follows, 3387 0.052 0.003 0.003 0.287 -1.126 0.808 -0.030 -0.014 0.003 -0.032 o.Oo0 -0.004 0.984 a009 0.065 a914 0.030 0.015 0.001 -0.003 - 0.007 0.006 - 0.072 0.0 IV. CONCLUSION The control system design using LSDP for an inverted pendulum system has been successfully done. The LSDP controllers for the uncertain dynamic systems are very effective, which is shown in the paper. The simulation results give US satisfactory. The LSDP is a systematic C,=[35 0 0 0 0 OIT;DKd=O A, = B, = a861 -0.124 -0.069 0 0.992 -0.121 0 -0.008 0.709 0 0.004 0.201 0 -0.086 -2707 0 0.013 0.098 0.01 0.038 0.0 -0.008 -0.121 om1 -0.008 -0.291 0.001 0.001 0.186 -0.001 -0.077 -2.760 0.006 ao -0.009 0.0 V. REFERENCE 1) D.C. Mcfarlane and K.Glover: Robust Controller Design Using Normalized Coprime Factor Plant Description, Lecture Notes in Control and Information Sciences 138, Springer-Verlag,l990. Figure 4 Singular Value of Nominal Plant G, Shaped Plant G, and Open-Loop Transfer Function L=G*K, The simulation results are shown in Figure 5. Cart podlion lime Pendulum Angle 0 1 2 3 4 5 8 1 8 9 time - Figure 5 Simulation Results 2) Fang Lei: Control of Double Link Inverted Pendulum with Nonlinear Friction, master thesis, Faculty of Science and Technology, University of Macau, 1999. 3) K. Zhou, J.C. Doyle and K. Glover: Robust and Optimal Control. Prentice Hall, first edition, 1996. . 4) S. Skogestad an4 I. Postlethwaite: Multivariable Feedback Control. J ohn Wiley & Sons, first edition. 1996. 3388
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