Control design on the basis of approximate nonlinear models: the inverted pendulum example

Jerome Jouffroy, Jacques Lottin

Research output: Contribution to conference without publisher/journalPaperResearchpeer-review

Abstract

The main interest of linear models is the wide panel of control structures that are available. This also motivated a large amount of work to extend these structures to nonlinear plants, either by local or exact linearization, or by introducing robustness properties. At the same time other works dealt with control of some classes of nonlinear systems. One of these families concerns flat systems for which it is possible to design reference trajectories that are admissible both for state variables and control input. However nonlinear plants may not exhibit such flatness properties since analysis is
done in the whole state space. Since in many situations the process evolution is confined in a reduced domain, one solution consists in building an equivalent nonlinear model which exhibits flatness properties in order to use related control design tools. The inverted pendulum system is used to illustrate the procedure.
Original languageEnglish
Publication date2000
Publication statusPublished - 2000
EventIEE Int. Conf. on Systems Engineering (ICSE 2000) -
Duration: 24. Aug 2010 → …

Conference

ConferenceIEE Int. Conf. on Systems Engineering (ICSE 2000)
Period24/08/2010 → …

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Pendulums
Linearization
Nonlinear systems
Trajectories

Cite this

Jouffroy, J., & Lottin, J. (2000). Control design on the basis of approximate nonlinear models: the inverted pendulum example. Paper presented at IEE Int. Conf. on Systems Engineering (ICSE 2000), .
Jouffroy, Jerome ; Lottin, Jacques. / Control design on the basis of approximate nonlinear models: the inverted pendulum example. Paper presented at IEE Int. Conf. on Systems Engineering (ICSE 2000), .
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Jouffroy, J & Lottin, J 2000, 'Control design on the basis of approximate nonlinear models: the inverted pendulum example', Paper presented at IEE Int. Conf. on Systems Engineering (ICSE 2000), 24/08/2010.

Control design on the basis of approximate nonlinear models: the inverted pendulum example. / Jouffroy, Jerome; Lottin, Jacques.

2000. Paper presented at IEE Int. Conf. on Systems Engineering (ICSE 2000), .

Research output: Contribution to conference without publisher/journalPaperResearchpeer-review

TY - CONF

T1 - Control design on the basis of approximate nonlinear models: the inverted pendulum example

AU - Jouffroy, Jerome

AU - Lottin, Jacques

PY - 2000

Y1 - 2000

N2 - The main interest of linear models is the wide panel of control structures that are available. This also motivated a large amount of work to extend these structures to nonlinear plants, either by local or exact linearization, or by introducing robustness properties. At the same time other works dealt with control of some classes of nonlinear systems. One of these families concerns flat systems for which it is possible to design reference trajectories that are admissible both for state variables and control input. However nonlinear plants may not exhibit such flatness properties since analysis isdone in the whole state space. Since in many situations the process evolution is confined in a reduced domain, one solution consists in building an equivalent nonlinear model which exhibits flatness properties in order to use related control design tools. The inverted pendulum system is used to illustrate the procedure.

AB - The main interest of linear models is the wide panel of control structures that are available. This also motivated a large amount of work to extend these structures to nonlinear plants, either by local or exact linearization, or by introducing robustness properties. At the same time other works dealt with control of some classes of nonlinear systems. One of these families concerns flat systems for which it is possible to design reference trajectories that are admissible both for state variables and control input. However nonlinear plants may not exhibit such flatness properties since analysis isdone in the whole state space. Since in many situations the process evolution is confined in a reduced domain, one solution consists in building an equivalent nonlinear model which exhibits flatness properties in order to use related control design tools. The inverted pendulum system is used to illustrate the procedure.

M3 - Paper

ER -

Jouffroy J, Lottin J. Control design on the basis of approximate nonlinear models: the inverted pendulum example. 2000. Paper presented at IEE Int. Conf. on Systems Engineering (ICSE 2000), .