Timeline for What is the relationship between classical control: transfer functions/frequency domain and the swing-up problem of an inverted pendulum
Current License: CC BY-SA 4.0
8 events
| when toggle format | what | by | license | comment | |
|---|---|---|---|---|---|
| Mar 30 at 18:54 | comment | added | krishnab | Yep, I get what you mean. Thanks for suggesting an approach, I have seen this method before, so I know how to implement it. Thanks again. | |
| Mar 30 at 18:45 | comment | added | Pete W | If you can locally linearize, you can in principle do some form of gain programming, and use that to follow a pre-programmed trajectory of $(\theta , \dot{\theta})$. It would complicate other aspects of a classical controller, like ARW (but there are generalized approaches to that also). More powerful methods would certainly be appropriate though | |
| Mar 30 at 18:44 | comment | added | krishnab | @PeteW interesting point. I was watching Russ Tedrake's videos on robotics, so he covers nonlinear problems very well. Does it make practical sense to try classical methods on nonlinear problems? Meaning that I could probably solve a small class of problems this way, but I imagine that using modern control methods on nonlinear control problems would be a better investment of time/effort? Or would a classical controller still be my first try when I explore a new nonlinear system? | |
| Mar 30 at 18:37 | comment | added | Pete W | PID control would be unsuitable anyway, because it is marginal to useless in systems with a double integrator such as a pendulum (which, when including the actuator itself, can end up being a 3-pole system). More broadly, classical control can readily cope with higher order. Nonlinearity requires more modification, but can still be done classical ish style. Finally if actuator isn't strong enough to lift the pendulum in one swing, and has to swing/pump, would pretty much force you to give up a generalized solution from that point of view - though you could pre-program a trajectory as a hack | |
| Mar 30 at 16:14 | vote | accept | krishnab | ||
| Mar 30 at 7:51 | answer | added | AJN | timeline score: 2 | |
| S Mar 30 at 7:20 | review | First questions | |||
| Mar 30 at 16:11 | |||||
| S Mar 30 at 7:20 | history | asked | krishnab | CC BY-SA 4.0 |