Symbolic Controller with PID Feedback for Locally Linearized System [chapter]

Bin Xu, Tianyi Wang, Haibin Duan
2011 Advances in Intelligent and Soft Computing  
In this paper, we proposed a novel symbolic controller with PID (proportional integral derivative) feedback for locally linearized system. The state-space of this system is analyzed in Brunovsky coordinates, and then a practical control structure which combines symbolic controller and PID controller is presented. Series of Experiments on an inverted pendulum are conducted, and the results show the feasibility and efficiency of our proposed structure.
doi:10.1007/978-3-642-25661-5_20 fatcat:ukcvpmrnhvhxhflh55tq2i76lm