A Case Study on Analytical Analysis of the Inverted Pendulum Real-Time Control System
An inverted pendulum has been used as the controlled device in a prototype real-time control system employing the Simplex architecture. In this report, we address the control issues of such a system in an analytic way. In particular, an analytic model of the system is derived; control algorithms are designed for the baseline control, experimental control and safety control based on the concept of analytic redundancy; the safety region is obtained as the stability region of the system under the safety control; and the control switching logic is established to provide fault tolerant functionality. Finally, the results obtained and the lessons learned are summarized, and future work is discussed.
Technical Report
CMU/SEI-99-TR-023
November 1999
Cite This Report
SEI:
Seto, Danbing; & Sha, Lui. A Case Study on Analytical Analysis of the Inverted Pendulum Real-Time Control System (CMU/SEI-99-TR-023). Software Engineering Institute, Carnegie Mellon University, 1999. http://www.sei.cmu.edu/library/abstracts/reports/99tr023.cfm
IEEE:
D. Seto, and L. Sha, "A Case Study on Analytical Analysis of the Inverted Pendulum Real-Time Control System," Software Engineering Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, Technical Report CMU/SEI-99-TR-023, 1999. http://www.sei.cmu.edu/library/abstracts/reports/99tr023.cfm
APA:
Seto, D., & Sha, L. (1999). A Case Study on Analytical Analysis of the Inverted Pendulum Real-Time Control System (CMU/SEI-99-TR-023). Retrieved June 19, 2013, from the Software Engineering Institute, Carnegie Mellon University website: http://www.sei.cmu.edu/library/abstracts/reports/99tr023.cfm
CHI:
Seto, Danbing, and Lui Sha. A Case Study on Analytical Analysis of the Inverted Pendulum Real-Time Control System (CMU/SEI-99-TR-023). Pittsburgh, PA: Software Engineering Institute, Carnegie Mellon University, 1999. http://www.sei.cmu.edu/library/abstracts/reports/99tr023.cfm
MLA:
Seto, D., & Sha, L. 1999. A Case Study on Analytical Analysis of the Inverted Pendulum Real-Time Control System (Technical Report CMU/SEI-99-TR-023). Pittsburgh: Software Engineering Institute, Carnegie Mellon University. http://www.sei.cmu.edu/library/abstracts/reports/99tr023.cfm
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