Manual Control and Stabilization of an Inverted Pendulum
Författare
Redaktör
- Pavel Piztek
Summary, in English
The problem of stabilizing an inverted pendulum on a cart while enabling manual control of the cart velocity is treated. Introduction of an input saturation nonlinearity makes the problem challenging in the sense that the system may be driven to a state where recovery is not possible. A controller based on the controllability set of the inverted pendulum, which ensures stability and tracking of constant reference velocities for the cart is developed. The controller also offers a trade-off between performance and robustness.
Avdelning/ar
Publiceringsår
2005
Språk
Engelska
Publikation/Tidskrift/Serie
Proceedings of the 16th IFAC World Congress
Dokumenttyp
Konferensbidrag
Förlag
Elsevier
Ämne
- Control Engineering
Nyckelord
- Inverted Pendulum
- Non-linear control
- Controllability set
Status
Published
ISBN/ISSN/Övrigt
- ISBN: 0-08-045108-X