Discretization and Control of Rotating Pendulum under Lebesgue Sampling

Abstract

SUMMARYThis study addresses a discretization method with Lebesgue sampling for a type of nonlinear system, and proposes a control method based on the discrete system model. A cart-pendulum system is used as an example. Applying this control method to some real system, a crucial problem is how to implement the controller. To overcome the problem, an impulsive Luenberger observer is introduced with numerical forward mapping from the current system state to the one-step-ahead state by the well-known RungeKutta method. As a result, a cart-pendulum system with a rotary encoder, whose quantization interval is relatively large, can be controlled effectively. Numerical simulations are performed to verify the effectiveness of the proposed method. C⃝ 2014 Wiley Periodicals, Inc. Electron Comm Jpn, 97(11): 10-18, 2014; Published online in Wiley Online Library (wileyonlinelibrary.com).