제어로봇시스템학회:학술대회논문집
- 1996.10b
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- Pages.233-236
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- 1996
Modeling of flexible stick balencer and controller design
Flexible stick balencer에 대한 modeling과 제어에 관한 연구
Abstract
This paper describes a liner state-space model for a flexible stick balencer. The method employed to generate the model utilizes a separable formulation of assumed modes to represents the transverse displacement due to bending Lagrangian dynamics are applied to determine the kinetic and potential energies for the system. The resultant dynamic equations are then organized into a state space model and linearized using Taylor series expansion method. A minimum order observer is designed to estimate unmeasurable states.