Final-State Control of a Cart and Flexible Pendulum System

Hidekazu Nishimura, Takayoshi Totani, Yutaka Watanabe

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


A new method for final-state control by feedforward input is presented and a simple algorithm to obtain the input is given. It is shown that for closed-loop systems with feedback compensators, a reference input can be used as the feedforward input for final-state control. The proposed method is examined through positioning control of a cart and flexible pendulum system. In order to suppress the vibration of the flexible pendulum, a minimum real H controller is designed, and feedforward input for the final-state control of this closed-loop system is derived and tested through numerical calculations and experiments. As a result, it is shown that the performance of final-state control and vibration suppression by the feedforward input designed for the closed-loop system is superior to that designed for the open-loop system without a feedback compensator.

Original languageEnglish
Pages (from-to)906-911
Number of pages6
Journaltransactions of the japan society of mechanical engineers series c
Issue number571
Publication statusPublished - 1994
Externally publishedYes


  • Feedforward Compensation Input
  • Final-State Control
  • Flexible Pendulum
  • H Control
  • Positioning Control
  • Robust Control
  • Spillover
  • Vibration Control

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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