CINECA IRIS Institutional Research Information System
IRIS è la soluzione IT che facilita la raccolta e la gestione dei dati relativi alle attività e ai prodotti della ricerca. Fornisce a ricercatori, amministratori e valutatori gli strumenti per monitorare i risultati della ricerca, aumentarne la visibilità e allocare in modo efficace le risorse disponibili.
EnglishThe purpose of this paper is to exhibit the relevance of command governor (CG) strategies in real control problems, where consideration has to be given to nonlinearities, model uncertainties, disturbances, input and state-related constraints and requirements of moderate computational complexity. The plant considered is a laboratory cart/rod inverted pendulum for which the control problem consists of regulating vertically its rod subject to motor voltage and rod angle constraints, while providing full-range optimized tracking performance for the cart position. The merits of the proposed CG technique in this application are investigated, and its advantages over classic linear time-invariant design methods are discussed.
Control under constraint: an application of the Command Governor approach to an inverted pendulum / Casavola, Alessandro; Mosca, E.; Papini, M.. - In: IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY. - ISSN 1063-6536. - 12(2004), pp. 193-204.
Scheda prodotto non validato
Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo
| Titolo: | Control under constraint: an application of the Command Governor approach to an inverted pendulum | |
| Autori: | ||
| Data di pubblicazione: | 2004 | |
| Rivista: | ||
| Citazione: | Control under constraint: an application of the Command Governor approach to an inverted pendulum / Casavola, Alessandro; Mosca, E.; Papini, M.. - In: IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY. - ISSN 1063-6536. - 12(2004), pp. 193-204. | |
| Handle: | http://hdl.handle.net/20.500.11770/141144 | |
| Appare nelle tipologie: | 1.1 Articolo in rivista |
File in questo prodotto:
http://hdl.handle.net/20.500.11770/141144
Copyright © 2021