A robust PID like state-feedback control via LMI approach: An application on a double inverted pendulum system

Akin Delibasi; Ibrahim B. Kucukdemiral; Galip Cansever

doi:10.1109/CIRA.2007.382838

A robust PID like state-feedback control via LMI approach: An application on a double inverted pendulum system

Akin Delibasi, Ibrahim B. Kucukdemiral, Galip Cansever

Yildiz Technical University

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding › peer-review

9 Citations (Scopus)

Abstract

This paper addresses the design method for robust PID like controllers which guarantee the quadratic stability, performance in terms of H₂ and H_∞ specifications, pole locations and maximum output control. The approach is based on the transformation of the PID controller design problem to that of state feedback controller design thereby the convex optimization approaches can be adapted. Real time experimental results on a double inverted pendulum system demonstrates the validity and applicability of the proposed approach.

Original language	English
Title of host publication	Proceedings of the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2007
Publisher	IEEE
Pages	374-379
Number of pages	6
ISBN (Print)	1424407907, 9781424407903
DOIs	https://doi.org/10.1109/CIRA.2007.382838
Publication status	Published - 16 Jul 2007
Externally published	Yes
Event	2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2007 - Jacksonville, FL, United States Duration: 20 Jun 2007 → 23 Jun 2007

Publication series

Name	Proceedings of the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2007

Conference

Conference	2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2007
Country/Territory	United States
City	Jacksonville, FL
Period	20/06/07 → 23/06/07

ASJC Scopus subject areas

Artificial Intelligence
Software
Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/CIRA.2007.382838

Cite this

Delibasi, A., Kucukdemiral, I. B., & Cansever, G. (2007). A robust PID like state-feedback control via LMI approach: An application on a double inverted pendulum system. In Proceedings of the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2007 (pp. 374-379). Article 4269838 (Proceedings of the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2007). IEEE. https://doi.org/10.1109/CIRA.2007.382838

A robust PID like state-feedback control via LMI approach: An application on a double inverted pendulum system. / Delibasi, Akin; Kucukdemiral, Ibrahim B.; Cansever, Galip.
Proceedings of the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2007. IEEE, 2007. p. 374-379 4269838 (Proceedings of the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2007).

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding › peer-review

Delibasi, A, Kucukdemiral, IB & Cansever, G 2007, A robust PID like state-feedback control via LMI approach: An application on a double inverted pendulum system. in Proceedings of the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2007., 4269838, Proceedings of the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2007, IEEE, pp. 374-379, 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2007, Jacksonville, FL, United States, 20/06/07. https://doi.org/10.1109/CIRA.2007.382838

Delibasi A, Kucukdemiral IB, Cansever G. A robust PID like state-feedback control via LMI approach: An application on a double inverted pendulum system. In Proceedings of the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2007. IEEE. 2007. p. 374-379. 4269838. (Proceedings of the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2007). doi: 10.1109/CIRA.2007.382838

Delibasi, Akin ; Kucukdemiral, Ibrahim B. ; Cansever, Galip. / A robust PID like state-feedback control via LMI approach : An application on a double inverted pendulum system. Proceedings of the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2007. IEEE, 2007. pp. 374-379 (Proceedings of the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2007).

@inproceedings{61170d3c55a5464da9baf9b8e031f678,

title = "A robust PID like state-feedback control via LMI approach: An application on a double inverted pendulum system",

abstract = "This paper addresses the design method for robust PID like controllers which guarantee the quadratic stability, performance in terms of H2 and H∞ specifications, pole locations and maximum output control. The approach is based on the transformation of the PID controller design problem to that of state feedback controller design thereby the convex optimization approaches can be adapted. Real time experimental results on a double inverted pendulum system demonstrates the validity and applicability of the proposed approach.",

author = "Akin Delibasi and Kucukdemiral, {Ibrahim B.} and Galip Cansever",

year = "2007",

month = jul,

day = "16",

doi = "10.1109/CIRA.2007.382838",

language = "English",

isbn = "1424407907",

series = "Proceedings of the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2007",

publisher = "IEEE",

pages = "374--379",

booktitle = "Proceedings of the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2007",

address = "United States",

note = "2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2007 ; Conference date: 20-06-2007 Through 23-06-2007",

}

TY - GEN

T1 - A robust PID like state-feedback control via LMI approach

T2 - 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2007

AU - Delibasi, Akin

AU - Kucukdemiral, Ibrahim B.

AU - Cansever, Galip

PY - 2007/7/16

Y1 - 2007/7/16

N2 - This paper addresses the design method for robust PID like controllers which guarantee the quadratic stability, performance in terms of H2 and H∞ specifications, pole locations and maximum output control. The approach is based on the transformation of the PID controller design problem to that of state feedback controller design thereby the convex optimization approaches can be adapted. Real time experimental results on a double inverted pendulum system demonstrates the validity and applicability of the proposed approach.

AB - This paper addresses the design method for robust PID like controllers which guarantee the quadratic stability, performance in terms of H2 and H∞ specifications, pole locations and maximum output control. The approach is based on the transformation of the PID controller design problem to that of state feedback controller design thereby the convex optimization approaches can be adapted. Real time experimental results on a double inverted pendulum system demonstrates the validity and applicability of the proposed approach.

UR - http://www.scopus.com/inward/record.url?scp=34948861157&partnerID=8YFLogxK

U2 - 10.1109/CIRA.2007.382838

DO - 10.1109/CIRA.2007.382838

M3 - Conference proceeding

AN - SCOPUS:34948861157

SN - 1424407907

SN - 9781424407903

T3 - Proceedings of the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2007

SP - 374

EP - 379

BT - Proceedings of the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2007

PB - IEEE

Y2 - 20 June 2007 through 23 June 2007

ER -

A robust PID like state-feedback control via LMI approach: An application on a double inverted pendulum system

Abstract

Publication series

Conference

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this