{"title":"Sampled-Data Control for Optimal Gain Margin of Cart Inverted Pendulum System: Comparison with Continuous-Time Control","authors":"Sananda Chatterjee, Sarit K. Das","doi":"10.1109/ICARCV.2018.8581364","DOIUrl":null,"url":null,"abstract":"Seeking to robustly stabilize the cart-inverted-pendulum (CIP) system in the discrete domain, this paper first obtains, via an iterative approach for a sampling rate $T$, the controller that achieves a multiloop gain margin optimization that is analogous to what has been achieved via continuous-domain in [13]. Unlike what may be expected, however, the optimal gain margins obtained are not found to improve monotonically with reduction in $T$. Consequently the optimal $T$ and the corresponding discrete-domain controller that maximizes the gain margin is obtained. The same, moreover, is found to be superior to what the optimal continuous-domain design yields. An explanation for this counter intuitive observation is provided. This has also been verified using physical implementation.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICARCV.2018.8581364","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3
Abstract
Seeking to robustly stabilize the cart-inverted-pendulum (CIP) system in the discrete domain, this paper first obtains, via an iterative approach for a sampling rate $T$, the controller that achieves a multiloop gain margin optimization that is analogous to what has been achieved via continuous-domain in [13]. Unlike what may be expected, however, the optimal gain margins obtained are not found to improve monotonically with reduction in $T$. Consequently the optimal $T$ and the corresponding discrete-domain controller that maximizes the gain margin is obtained. The same, moreover, is found to be superior to what the optimal continuous-domain design yields. An explanation for this counter intuitive observation is provided. This has also been verified using physical implementation.