Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
Control of an Inverted Pendulum by a Robot Arm with Rubber Pneumatic Actuators
Kiyohiko TSUBOUCHIMasao IKEDA
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1990 Volume 3 Issue 3 Pages 76-83

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Abstract

An inverted pendulum is stabilized by a robot arm with rubber pneumatic actuators. The arm is identified as a linear second order system with time lag by the step responses. The pendulum is described by a linearized dynamic model. A digital control law is designed and implemented in a personal computer, which is composed of an LQ optimal state feedback, a minimal-order observer, and a predictor for one sampling period (40 ms) and time lag (80 ms).

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