Journal of Dynamic Systems, Measurement, and Control

Volume: Page/CID:

Optimizing Learning Convergence Speed and Converged Error for Precision Motion Control
This brief paper considers iterative learning control (ILC) for precision motion control (PMC) applications. This work develops a methodology to design a low pass filter, called the Q-filter, that is ...

A Robustness Issue of Control Laws Designed by the Input-Shaping Methodology
In this note, a robustness issue of control laws designed by the input-shaping methodology is brought to the fore. A control law designed by this methodology consists of a sequence of step inputs that...

J. Dyn. Sys., Meas., Control / Volume 130 / Issue 5 / Technical Briefs

Friction and the Inverted Pendulum Stabilization Problem

J. Dyn. Sys., Meas., Control -- September 2008 -- Volume 130, Issue 5, 054502 (7 pages)
doi:10.1115/1.2957631

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ABSTRACT

REFERENCES (24)

CITING ARTICLES

Author(s):
Sue Ann Campbell, Stephanie Crawford, and Kirsten Morris
Department of Applied Mathematics, University of Waterloo, Waterloo, ON, N2L 3G1, Canada

Weconsider an experimental system consisting of a pendulum, which isfree to rotate 360 deg, attached to a cart. The cartcan move in one dimension. We study the effect offriction on the design and performance of a feedback controller,a linear quadratic regulator, that aims to stabilize the pendulumin the upright position. We show that a controller designedusing a simple viscous friction model has poor performance—small amplitudeoscillations occur when the controller is implemented. We consider variousmodels for stick slip friction between the cart and thetrack and measure the friction parameters experimentally. We give strongevidence that stick slip friction is the source of thesmall amplitude oscillations. A controller designed using a stick slipfriction model stabilizes the system, and the small amplitude oscillationsare eliminated.