Abstract
The purpose of this paper is to describe the use of functional observers including disturbance observation and compensation, in a practical application : the stabilization of an inverted pendulum. This plant has a disturbance elemant, the dry friction force of the movement of the cart. This system is stabilized by means of a functional observer, which at the same time estimates this disturbance, modeled as an additional unknown state variable added to the initial model of the plant (disturbance observer). The dry friction force is thus compensated by software means, in a more elegant and efficient way than by classical compensation schemes. Two experiments are run on this system consecutively, one with electrical sensors to give measurements and the second one with a single optical sensor, a CCD-camera, and the practical results are given in both cases and discussed.
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Schedule a callMore From: Advanced Information Processing in Automatic Control (AIPAC'89)
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