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Transactions: INTERNATIONAL JOURNAL of MATHEMATICAL MODELS AND METHODS IN APPLIED SCIENCES
Transactions ID Number: 20-493
Full Name: Sarawut Sujitjorn
Position: Professor
Age: ON
Sex: Male
Address: School of Electrical Engineering, Suranaree University of Technology, 111 University Avenue, Nakhon Ratchasima
Country: THAILAND
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E-mail address: sarawut@sut.ac.th
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Title of the Paper: Stabilization of an Inverted Pendulum System via State-PI Feedback
Authors as they appear in the Paper: Witchupong Wiboonjaroen and Sarawut Sujitjorn
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Number of paper pages: 10
Abstract: State feedback technique through a gain matrix has been a well-known method for pole assignment of a linear system. The technique could encounter a difficulty in eliminating the steady-state errors remained in some states. Introducing an integral element to work with the gain can effectively eliminate the errors. State-PI feedback is proposed by this article for pole placement of a delay-free linear time invariant system. The proposed method yields simple gain formulae. The article presents the derivation of the design formulae, the design steps and some simple numerical examples. The method is applied to stabilize an inherently unstable pneumatically actuated inverted pendulum. Simulation results show the effectiveness of the proposed method for disturbance dampening and stabilizing the system. Comparison with the results obtained from applying Ackermann's formula is also presented.
Keywords: state-PI feedback, gain formulae, linear system, pole placement, inverted pendulum.
EXTENSION of the file: .pdf
Special (Invited) Session: Pole Placement Using State-PI Feedback for a Pneumatically
Organizer of the Session: 650-647
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