Abstract
This paper presents a control method for the positioning of the flexible inverted pendulum and cart system. The distributed parameter model is derived in considering the elasticity of the pendulum. The frequency dependent optimal servo system is designed using the reduced order model, which is derived by eliminating the dynamics of flexible modes. The proposed design method enables not only to eliminate the spillover phenomenon caused by the residual elastic modes but to compensate the friction of the cart. Some experimental results show the effectiveness of the proposed control system.
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