Passive fault tolerant control of a double inverted pendulum - A case study example

Henrik Niemann; Jakob Stoustrup

doi:10.1016/S1474-6670(17)36611-9

Passive fault tolerant control of a double inverted pendulum - A case study example

Henrik Niemann, Jakob Stoustrup

Research output: Contribution to journal › Conference article in Journal › Research › peer-review

6 Citations (Scopus)

Abstract

A passive fault tolerant control scheme is suggested, in which a nominal controller is augmented with an additional block, which guarantees stability and performance after the occurrence of a fault. The method is based on the Youla parameterization, which requires the nominal controller to be implemented in observer based form. The proposed method is applied to a double inverted pendulum system, for which an H _∞ controller has been designed and verified in a lab setup. In this case study, the fault is a degradation of the tacho loop.

Original language	English
Book series	IFAC Proceedings Volumes (IFAC-PapersOnline)
Volume	36
Issue number	5
Pages (from-to)	927-932
Number of pages	6
ISSN	1474-6670
DOIs	https://doi.org/10.1016/S1474-6670(17)36611-9
Publication status	Published - 1 Jan 2003
Event	5th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, Safeprocess 2003 - Washington, United States Duration: 9 Jun 1997 → 11 Jun 1997

Conference

Conference	5th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, Safeprocess 2003
Country/Territory	United States
City	Washington
Period	09/06/1997 → 11/06/1997

Keywords

Fault tolerant control
H controller design
Observer based controller implementation
Simulation
Youla parameterization

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AB - A passive fault tolerant control scheme is suggested, in which a nominal controller is augmented with an additional block, which guarantees stability and performance after the occurrence of a fault. The method is based on the Youla parameterization, which requires the nominal controller to be implemented in observer based form. The proposed method is applied to a double inverted pendulum system, for which an H ∞ controller has been designed and verified in a lab setup. In this case study, the fault is a degradation of the tacho loop.

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KW - H controller design

KW - Observer based controller implementation

KW - Simulation

KW - Youla parameterization

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Y2 - 9 June 1997 through 11 June 1997

ER -

Passive fault tolerant control of a double inverted pendulum - A case study example

Abstract

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Keywords

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