TP transformation based ocntroller and observer design of the inverted pendulum

• Autorzy: Wéber Andrea , Kuczmann Miklós

Identyfikatory

DOI

10.15199/48.2022.10.06

Warianty tytułu

PL

Transformatorowy sterownik TP i konstrukcja obserwatora odwróconego wahadła

• Języki publikacji: EN

Abstrakty

EN

The paper discusses that applying of CNO and IRNO type weighting functions results different TP models, including controller and observer. Selection of weighting functions has influence on the TP model transformation and the LMI based design. Present paper introduces the LMI based observer and controller design of the inverted pendulum via the TP model transformation based method using CNO and IRNO type weighting functions. The TP transformation is accomplished by qLPV modeling and HOSVD method. The paper gives a conclusion and a comparison of the original and estimated state variables and the impact of applying two types of weighting functions. The aim of present paper is to prove that using different type of weighting functions influences the TP models and LMI methods, but LMIs still result feasible solution for controller and observer design. Furthermore the modification allows to choose the better controller/observer.

PL

W artykule wykazano, ze zastosowanie funkcji wagowych typu CNO i IRNO skutkuje różnymi modelami TP, w tym kontrolerem i ˙ obserwatorem. Wybór funkcji wagowej ma wpływ na transformację modelu TP i konstrukcję w oparciu o LMI. W niniejszym artykule przedstawiono projekt obserwatora i kontrolera w oparciu o LMI odwróconego wahadła za pomocą metody opartej na transformacji modelu TP z wykorzystaniem funkcji wagowych typu CNO i IRNO. Transformacja TP realizowana jest za pomocą modelowania qLPV i metody HOSVD. Artykuł zawiera wnioski i porównanie pierwotnych i oszacowanych zmiennych stanu oraz wpływu zastosowania dwóch typów funkcji wag. Celem niniejszego artykułu jest wykazanie, ze zastosowanie różnego rodzaju funkcji wagowych wpływa na modele TP i metody LMI, ale LMI nadal dają wykonalne rozwiązanie dla konstrukcji kontrolera i obserwatora. Ponadto modyfikacja pozwala wybrac lepszego kontrolera/obserwatora.

Słowa kluczowe

EN

TP transformation; qLPV model; LM; observer design; controller design

PL

funkcja wagowa typu CNO; odwrócone wahadło; model TP

• Wydawca: Wydawnictwo SIGMA-NOT
• Czasopismo: Przegląd Elektrotechniczny
• Rocznik: 2022
• Tom: R. 98, nr 10
• Strony: 34--39
• Opis fizyczny: Bibliogr. 31., rys.

Twórcy

autor

Wéber Andrea

• Széchenyi István University, Measurement and Information Systems, Department of Automation, Gyor, Hungary H-902

autor

Kuczmann Miklós

• Széchenyi István University, Measurement and Information Systems, Department of Automation, Gyor, Hungary H-902

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023).