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LPV controller synthesis for the rotary inverted pendulum

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dc.contributor Graduate Program in Systems and Control Engineering.
dc.contributor.advisor Eşkinat, Eşref.
dc.contributor.author Kırcalar, Mustafa Emre.
dc.date.accessioned 2023-03-16T11:34:50Z
dc.date.available 2023-03-16T11:34:50Z
dc.date.issued 2011.
dc.identifier.other SCO 2011 K57
dc.identifier.uri http://digitalarchive.boun.edu.tr/handle/123456789/15663
dc.description.abstract Linear parameter varying (LPV) controller design for nonlinear systems is mostly considered as challenging. Moreover, the available methods and tools suggested in the literature are scarce and not well tested on physical systems. In this thesis, the design of the LPV controller for the Rotary Inverted Pendulum (RIP) is presented. Starting from a linear fractional transformation structure (LFT) of the LPV plant, which is obtained by nonlinear dynamical equations of the RIP, controller synthesis Linear Matrix Inequality (LMI) conditions are developed. By involving LMIs, based on LPV synthesis theory, the controller design procedure is performed. Additionally, the designed LPV controller performance is evaluated by the provided simulation and experimental results for di erent conditions.|Keywords : Control systems, Non-linear equations, Nonlinear systems, Robust control, Control engineering, Control theory, Pendulum system
dc.format.extent 30 cm.
dc.publisher Thesis (M.S.) - Bogazici University. Institute for Graduate Studies in Science and Engineering, 2011.
dc.relation Includes appendices.
dc.relation Includes appendices.
dc.subject.lcsh Pendulum.
dc.subject.lcsh Robust control.
dc.subject.lcsh Control theory.
dc.title LPV controller synthesis for the rotary inverted pendulum
dc.format.pages xiv, 72 leaves ;


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