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Manual Control and Stabilization of an Inverted Pendulum

Åkesson, Johan LU and Åström, Karl Johan LU (2005) In Proceedings of the 16th IFAC World Congress
Abstract
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.
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Inverted Pendulum, Non-linear control, Controllability set
in
Proceedings of the 16th IFAC World Congress
editor
Piztek, Pavel
publisher
Elsevier
external identifiers
  • Scopus:79960746547
ISBN
0-08-045108-X
language
English
LU publication?
yes
id
9fc8f0e0-99b2-4855-8ac0-be2626885be7 (old id 535712)
date added to LUP
2007-09-12 10:35:13
date last changed
2016-10-13 04:41:36
@misc{9fc8f0e0-99b2-4855-8ac0-be2626885be7,
  abstract     = {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.},
  author       = {Åkesson, Johan and Åström, Karl Johan},
  editor       = {Piztek, Pavel},
  isbn         = {0-08-045108-X},
  keyword      = {Inverted Pendulum,Non-linear control,Controllability set},
  language     = {eng},
  publisher    = {ARRAY(0x77a3b88)},
  series       = {Proceedings of the 16th IFAC World Congress},
  title        = {Manual Control and Stabilization of an Inverted Pendulum},
  year         = {2005},
}