Abe Naoto    Department   Undergraduate School  , School of Science and Technology    Position   Professor
Date	2018/06/30
Presentation Theme	State predictive control by integral approximation for inverted pendulum with time delay
Conference	14th IFAC Workshop on Time Delay Systems
Promoters	International Federation of Automatic Control
Conference Type	International
Presentation Type	Speech (General)
Contribution Type	Collaborative
Venue	Budapest, Hungary
Publisher and common publisher	Abe, Naoto & Fukunaga, Shinya
Details	In this presentation, we apply the approximation method of Mirkin and Q-C Zhong for the rotary inverted pendulum with a flexible arm. Because the plant has the flexible arm, we should suppress the vibration of the arm and stabilize the pendulum by using LQR with frequency-shaped weights. By the trapezoidal and Mirkin approximation, a difference of the remarkable performance is not seen in experiments and analysis. In both cases, it is caused by increasing gains in a low frequency band. On the other hand, an effective result was provided with this plant because the gain of the low frequency band was suppressed by the Q-C Zhong method. Mirkin approximation is effective in the high frequency band, however, the property of trapezoidal approximation is appeared in the low frequency band. Therefore, it can be expected that it is suppressed in both high and low frequency bands by using Q-C Zhong approximation instead of the part of trapezoidal approximation. {Zfc(s)} We are able to demonstrate that the mixed approximation can reduce the most divided number by experiments. We show a video by the presentation.