A PI-type State Feedback Control of Seesaw System Using Reduced-order Observer

Ryu, Ki-Tak; Lee, Yun-Hyung; Yoo, Heui-Han; Jung, Byung-Gun; Kim, Jong-Su; So, Myung-Ok

Journal of Navigation and Port Research 2007;31(10):853-858.
Published online December 30, 2007.

축소차수 관측기를 이용한 시소시스템의 Pl형 상태피드백 제어

류기탁, 이윤형, 유희한, 정병건, 김종수, 소명옥

A PI-type State Feedback Control of Seesaw System Using Reduced-order Observer

Ki-Tak Ryu, Yun-Hyung Lee, Heui-Han Yoo, Byung-Gun Jung, Jong-Su Kim, Myung-Ok So

Abstract

In this paper, a seesaw system composed with a moving cart on the rail and seesaw frame is made to demonstrate the effectiveness of the control theory. The control aim is to maintain an equilibrium of seesaw frame in spite of various initial conditions and an allowable disturbance. To solve this control problem, a PI-type state feedback controller using reduced-order observer is implemented and applied to the seesaw system. The reduced-order observer can be used to estimate the state variables in the case of the limit of sensor number or the constraint on setting sensors and the cost. A series of simulation are carried out to verify the effectiveness of the control system.

Key Words: Pl형 상태피드백 제어; Seesaw system;PI-type state feedback contorl;Reduced-order observer