TY - GEN
T1 - LQI Control of a Self Balancing Robot
T2 - 2023 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, ChileCon 2023
AU - Severino, Luis
AU - Sanhueza, Fernando
AU - Peters, Andres
AU - Vargas, Francisco
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - This work aims to explore the effects of the integral term in the discrete-time implementation of the LQI controller. To achieve this, a two-wheeled self-balancing robot system is used as a case study, and three types of numerical integration approximations are considered: Backward Euler, Forward Euler, and Tustin. Through simulations, the results obtained with each approximation are compared against the expected continuoustime design. The simulation results demonstrate that while there are no significant differences for small sampling times, the Tustin approximation exhibits notably better performance than the other alternatives as the sampling time increases.
AB - This work aims to explore the effects of the integral term in the discrete-time implementation of the LQI controller. To achieve this, a two-wheeled self-balancing robot system is used as a case study, and three types of numerical integration approximations are considered: Backward Euler, Forward Euler, and Tustin. Through simulations, the results obtained with each approximation are compared against the expected continuoustime design. The simulation results demonstrate that while there are no significant differences for small sampling times, the Tustin approximation exhibits notably better performance than the other alternatives as the sampling time increases.
KW - Integral Aproximation
KW - Linear Quadratic Integral control
KW - Self-balancing robot
UR - http://www.scopus.com/inward/record.url?scp=85189508590&partnerID=8YFLogxK
U2 - 10.1109/CHILECON60335.2023.10418718
DO - 10.1109/CHILECON60335.2023.10418718
M3 - Conference contribution
AN - SCOPUS:85189508590
T3 - Proceedings - IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, ChileCon
BT - ChileCon 2023 - 2023 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 5 December 2023 through 7 December 2023
ER -