PendCon Research: Workshops, Cooperations and Customized Solutions
The parts of the Uncertainty Set:
A hard and a soft spring which replace the rigid motor shaft.
The hard spring contributes high-frequency dynamics to the double pendulum
The soft spring contributes an oscillatory part to the double pendulum dynamics at a frequency which is near to the eigenfrequency of the double pendulum.
An all-pass (or another electric circuit) which is contained in the blue plug. This device changes the actuator dynamics.
A spring-mass-system which has to be mounted at the motor shaft. This system creates a strong oscillatory disturbance. Even more: The pendulum dynamics and the spring dynamics are coupled. A controller which is capable to stabilize this system must not only be able to reject the strong oscillatory disturbance, he must also give the closed-loop system suitable robustness properties against this additional dynamics.