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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
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author
organization
publishing date
type
Contribution to conference
publication status
published
subject
conference name
1996 IEEE Conference on Control Applications
external identifiers
  • Scopus:0030357579
language
English
LU publication?
yes
id
405bb563-b945-4c51-a9e4-28d3021445fe (old id 8517072)
date added to LUP
2016-01-19 10:26:08
date last changed
2016-10-13 04:52:43
@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},
}