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

  • Author(s): Danbing Seto, Lui R. Sha
  • Publish Date:
  • Publisher: Software Engineering Institute
  • SEI Identifier: CMU/SEI-99-TR-023
  • Type: Technical Report
  • Topics: Performance and Dependability
  • Description: 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.

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 Report

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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://resources.sei.cmu.edu/library/asset-view.cfm?AssetID=13511

IEEE

Seto. Danbing, and Sha. Lui, "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://resources.sei.cmu.edu/library/asset-view.cfm?AssetID=13511

APA

Seto, Danbing., & Sha, Lui. (1999). A Case Study on Analytical Analysis of the Inverted Pendulum Real-Time Control System (CMU/SEI-99-TR-023). Retrieved October 20, 2014, from the Software Engineering Institute, Carnegie Mellon University website: http://resources.sei.cmu.edu/library/asset-view.cfm?AssetID=13511

CHI

Danbing Seto, & 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://resources.sei.cmu.edu/library/asset-view.cfm?AssetID=13511

MLA

Seto, Danbing., & Sha, Lui. 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://resources.sei.cmu.edu/library/asset-view.cfm?AssetID=13511