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A Case Study on Analytical Analysis of the Inverted Pendulum Real-Time Control System

Technical Report
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.
Publisher

Software Engineering Institute

CMU/SEI Report Number
CMU/SEI-99-TR-023

Abstract

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.

Cite This Technical Report

Seto, D., & Sha, L. (1999, November 1). A Case Study on Analytical Analysis of the Inverted Pendulum Real-Time Control System. (Technical Report CMU/SEI-99-TR-023). Retrieved July 21, 2024, from https://insights.sei.cmu.edu/library/a-case-study-on-analytical-analysis-of-the-inverted-pendulum-real-time-control-system/.

@techreport{seto_1999,
author={Seto, Danbing and Sha, Lui},
title={A Case Study on Analytical Analysis of the Inverted Pendulum Real-Time Control System},
month={Nov},
year={1999},
number={CMU/SEI-99-TR-023},
howpublished={Carnegie Mellon University, Software Engineering Institute's Digital Library},
url={https://insights.sei.cmu.edu/library/a-case-study-on-analytical-analysis-of-the-inverted-pendulum-real-time-control-system/},
note={Accessed: 2024-Jul-21}
}

Seto, Danbing, and Lui Sha. "A Case Study on Analytical Analysis of the Inverted Pendulum Real-Time Control System." (CMU/SEI-99-TR-023). Carnegie Mellon University, Software Engineering Institute's Digital Library. Software Engineering Institute, November 1, 1999. https://insights.sei.cmu.edu/library/a-case-study-on-analytical-analysis-of-the-inverted-pendulum-real-time-control-system/.

D. Seto, and L. Sha, "A Case Study on Analytical Analysis of the Inverted Pendulum Real-Time Control System," Carnegie Mellon University, Software Engineering Institute's Digital Library. Software Engineering Institute, Technical Report CMU/SEI-99-TR-023, 1-Nov-1999 [Online]. Available: https://insights.sei.cmu.edu/library/a-case-study-on-analytical-analysis-of-the-inverted-pendulum-real-time-control-system/. [Accessed: 21-Jul-2024].

Seto, Danbing, and Lui Sha. "A Case Study on Analytical Analysis of the Inverted Pendulum Real-Time Control System." (Technical Report CMU/SEI-99-TR-023). Carnegie Mellon University, Software Engineering Institute's Digital Library, Software Engineering Institute, 1 Nov. 1999. https://insights.sei.cmu.edu/library/a-case-study-on-analytical-analysis-of-the-inverted-pendulum-real-time-control-system/. Accessed 21 Jul. 2024.

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. 1999. https://insights.sei.cmu.edu/library/a-case-study-on-analytical-analysis-of-the-inverted-pendulum-real-time-control-system/