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Symbolic Controller with PID Feedback for Locally Linearized System

  • Conference paper
Knowledge Engineering and Management

Part of the book series: Advances in Intelligent and Soft Computing ((AINSC,volume 123))

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Abstract

In this paper, we proposed a novel symbolic controller with PID (proportional integral derivative) feedback for locally linearized system. The state-space of this system is analyzed in Brunovsky coordinates, and then a practical control structure which combines symbolic controller and PID controller is presented. Series of Experiments on an inverted pendulum are conducted, and the results show the feasibility and efficiency of our proposed structure.

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References

  1. Fagiolini, A., Greco, L., Bicchi, A., Piccoli, B., Marigo, A.: Symbolic control for underactuated differentially flat systems. In: Proceedings 2006 IEEE International Conference on Robotics and Automation, pp. 1649–1654 (2006)

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  5. Control Tutorials for MATLAB and Simulink, http://www.engin.umich.edu/class/ctms/simulink/examples/pend/pendsim.htm

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Author information

Authors and Affiliations

  1. Science and Technology on Aircraft Control Laboratory, School of Automation Science, and Electrical Engineering, Beihang University, Beijing, 100191, P. R. China

    Bin Xu, Tianyi Wang & Haibin Duan

Authors
  1. Bin Xu
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  2. Tianyi Wang
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  3. Haibin Duan
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Editor information

Editors and Affiliations

  1. Department of Computer Science and Engineering, Shanghai Jiao Tong University, 800 Dongchuan Road, 200240, Shanghai, China

    Yinglin Wang

  2. School of Information Science and Technology, Southwest Jiaotong University, 610031, Chengdu, Sichuan Province, China

    Tianrui Li

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© 2011 Springer-Verlag Berlin Heidelberg

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Cite this paper

Xu, B., Wang, T., Duan, H. (2011). Symbolic Controller with PID Feedback for Locally Linearized System. In: Wang, Y., Li, T. (eds) Knowledge Engineering and Management. Advances in Intelligent and Soft Computing, vol 123. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25661-5_20

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  • DOI: https://doi.org/10.1007/978-3-642-25661-5_20

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-25660-8

  • Online ISBN: 978-3-642-25661-5

  • eBook Packages: EngineeringEngineering (R0)

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