Journal of Siberian Federal University. Mathematics & Physics / State-feedback Control Principles for Inverted Pendulum with Hysteresis in Suspension

Full text (.pdf)
Issue
Journal of Siberian Federal University. Mathematics & Physics. 2016 9 (4)
Authors
Semenov, Mikhail E.; Abbas, Zainib Hatif; Ishchuk, Igor N.; Kanishcheva, Olesya I.; Meleshenko, Peter A.
Contact information
Semenov, Mikhail E.: Zhukovsky–Gagarin Air Force Academy, Starykh Bolshevikov, 54-A, Voronezh, 394064 Voronezh State University, Universitetskaya, 1, Voronezh, 394006 Voronezh State University of Architecture and Civil Engineering XX-letiya Oktyabrya, 84, Voronezh, 394006 Russia; ; Abbas, Zainib Hatif: oronezh State University of Architecture and Civil Engineering XX-letiya Oktyabrya st. 84, Voronezh, 394006 Russia; oronezh State University of Architecture and Civil Engineering XX-letiya Oktyabrya st. 84, Voronezh, 394006 Russia; Ishchuk, Igor N.: Zhukovsky–Gagarin Air Force Academy, Starykh Bolshevikov, 54-A, Voronezh, 394064 Siberian Federal University, Svobodny, 79, Krasnoyarsk, 660041 Russia; ; Kanishcheva, Olesya I.: Zhukovsky–Gagarin Air Force Academy, Starykh Bolshevikov, 54-A, Voronezh, 394064 Voronezh State University of Architecture and Civil Engineering XX-letiya Oktyabrya, 84, Voronezh, 394006 Russia; ; Meleshenko, Peter A.: Zhukovsky–Gagarin Air Force Academy, Starykh Bolshevikov, 54-A, Voronezh, 394064 Voronezh State University, Universitetskaya, 1, Voronezh, 394006 Russia;
Keywords
hysteretic nonlinearity; backlash; feedback principles; optimal control
Abstract

In this paper we consider the mathematical model of the inverted pendulum with the hysteretic nonlinearity (in the form of a backlash) under state feedback control. The analytic results for the stability criteria as well as for the solution of the linearized equation are observed and analyzed. The theorems that determine the stabilization of the considered system are formulated and discussed. The question on the optimal control of the system under consideration is also discussed and the corresponding theorem is considered

Pages
498–509
Paper at repository of SibFU
https://elib.sfu-kras.ru/handle/2311/29997