PendCon

Double Pendulum with Additional Dynamics

The double pendulum gets an elastic motor shaft which makes the mechanics uncertain and an additional all-pass (which is in the blue plug) which makes the actuator, the pwm amplifie, uncertain. The shaft is divided into two parts which are connected by a spring. Two kinds of springs belong to the experiment: a hard spring and a soft spring.

Short Introduction into mue Controller Design

• Modeling of uncertainty
• The structured singular value mue
• Robust stability and robust performance
• Design of mue controllers with the D-K iteration
• MATLAB tools for the design of mue controllers

Application to the Experiment

• Hinf and mue Controller Design for the Double Pendulum with an Elastic Motor Shaft and an All-Pass Plant model of the double pendulum with elastic motor shaft and all-pass Simulation and measurement of step responses
• Design of a Hinf controller for the plant with the hard spring
• Design of a mue controller for the plant with an all-pass
• Design of a mue controller for the plant with the hard spring and an all-pass
• Design of a Hinf controller for the plant with the soft spring
• Analysis of the closed-loop system

Mackenroth, U: Robust Stabilization of a Double Pendulum with an Elastic Joint and Uncertain High-Frequency Dynamics, MED'08, Ajaccio, Corsica, June 2008

Videos

• Uncertain Double Pendulum with All-Pass
• Uncertain Double Pendulum with Hard Spring and All-Pass
• Uncertain Double Pendulum with Soft Spring