Journal article
Passive fault tolerant control of a double inverted pendulum - a case study
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 YJBK 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_inf controller has been designed and verified in a lab setup. In this case study, the fault is a degradation of the tacho loop.
Language: | English |
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Year: | 2005 |
Pages: | 1047-1059 |
ISSN: | 18736939 and 09670661 |
Types: | Journal article |
DOI: | 10.1016/j.conengprac.2004.11.002 |
ORCIDs: | Niemann, Hans Henrik |