A Nonlinear Observer for the Inverted Pendulum
Eker, Johan LU
and Åström, Karl Johan
LU
(1996)
1996 IEEE Conference on Control Applications
- Abstract
- This paper deals with the design of a nonlinear observer for the inverted pendulum. The observer uses the standard structure of the linear observer with the linear model replaced by a nonlinear model. Nominal observer gains are determined from a linearised model. This model is also used to find a compromise between robustness and performance. The stability of the observer is then discussed and conditions for the stability of the observer are given. The results are illustrated by simulation and experiments on a real pendulum
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/8517072
- author
- Eker, Johan
LU
and Åström, Karl Johan
LU
- organization
- publishing date
- 1996
- type
- Contribution to conference
- publication status
- published
- subject
- conference name
- 1996 IEEE Conference on Control Applications
- conference dates
- 1996-09-15
- external identifiers
-
- scopus:0030357579
- language
- English
- LU publication?
- yes
- id
- 405bb563-b945-4c51-a9e4-28d3021445fe (old id 8517072)
- date added to LUP
- 2016-04-04 13:03:06
- date last changed
- 2023-11-16 07:49:37
@misc{405bb563-b945-4c51-a9e4-28d3021445fe,
abstract = {{This paper deals with the design of a nonlinear observer for the inverted pendulum. The observer uses the standard structure of the linear observer with the linear model replaced by a nonlinear model. Nominal observer gains are determined from a linearised model. This model is also used to find a compromise between robustness and performance. The stability of the observer is then discussed and conditions for the stability of the observer are given. The results are illustrated by simulation and experiments on a real pendulum}},
author = {{Eker, Johan and Åström, Karl Johan}},
language = {{eng}},
title = {{A Nonlinear Observer for the Inverted Pendulum}},
year = {{1996}},
}