ABSTRACT
This work presents the deadbeat control technique to mitigate transient oscillations of dynamics of Inverted pendulum or 1-link robot arm based on Signal Correction Technique (SCT). In SCT a suitable additional or corrected signal is generated and incorporated along with a reference input to the system through the feedback loop. It is pointed out that in some applications, such as biological control systems, it may not always be possible to incorporate a controller inside the system. This technique may be very much useful in realizing the transient performance of a system with SCT based deadbeat control where either incorporation of any controller within the system or processing of the input command is not permitted. The deadbeat representation with state space equations is demonstrated with the reference input as step. The SCT technique, which is considered in this work, is applied to nonlinear system for deadbeat realization without restriction of system parameters and experimental data as long as system is stable. In this work, the model of Inverted Pendulum is selected in the aspect of nonlinear control theory, with an emphasis on feedback linearization. Then the SCT based deadbeat control is implemented after ensuring the stability of the system.
