학술논문
Implementable Discrete-Time $L_{1}$ Adaptive Control for a Cart Inverted Pendulum System
Document Type
Conference
Author
Source
2019 6th International Conference on Control, Decision and Information Technologies (CoDIT) Control, Decision and Information Technologies (CoDIT), 2019 6th International Conference on. :610-615 Apr, 2019
Subject
Language
ISSN
2576-3555
Abstract
This paper discusses the implementation of the $L_{1}$ adaptive control for the inverted pendulum system. The proposed design has two merits. First, it is able to reject the system disturbance and uncertainties. Second, it ensures the overall system stability. Both the continuous-time $L_{1}$ adaptive control and the discrete-time $L_{1}$ adaptive control are designed. Simulation results show that the discrete-time $L_{1}$ adaptive control maintains the system stability in implementation with a guaranteed performance.