Control of an Inverted Pendulum

Project Proposal for IRS9 –Master of Science in Intelligent Reliable Systems (IRS)Fall 2005, Control Laboratory, Aalborg University EsbjergReferences:1.2.3.4.5.DE8-F05-4 project report, FDD for the three-tank system, AAUE, Spring 2005.D. Mignone and N. Monachino, The Total Three Tank Tutorial Text, Technical Report, ETH Zurich,2001.B. Heiming and J. Lunze. Definition of the Three-Tank Benchmark Problem for ControllerReconfiguration, Proceedings of the European Control Conference, Karlsruhe, Germany, 1999.J-C. Ponsart, D. Theilliol and H. Noura, Fault-tolerant control method for actuator and componentfaults applied to a hydraulic system, Proc. of the European Control Conference 2001, pp. 1044-1049.J-C. Ponsart, C. Join, D. Theilliol and D. Sauter, Sensor fault diagnosis and accommodation innonlinear system, Proc. of the European Control Conference 2001, pp. 2346-2351.Key words: Fault detection and diagnosis (FDD), fault tolerant control (FTC); PID (Proportional-Integral-Derivative) control, state-space model-based reconfigurable control.RemarksThis project is an extension and continuation of an IRS8 project investigated in Fall 2004, as shown in reference[1]. The emphasis of this project is to investigate mainly for active fault tolerant control (FTC), i.e., integratedFDD and FTC.Proposer: Youmin Zhang, FUV 0.22; Phone: 7912 7741Email: ymzhang@cs.aaue.dk; URL: http://www.cs.aue.auc.dk/~ymzhang/