Manual Control and Stabilization of an Inverted Pendulum
(2005)- 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:
https://lup.lub.lu.se/record/535712
- author
- Åkesson, Johan LU and Åström, Karl Johan LU
- organization
- publishing date
- 2005
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- Inverted Pendulum, Non-linear control, Controllability set
- host publication
- 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
- 2016-04-04 10:42:56
- date last changed
- 2022-01-29 20:42:23
@inproceedings{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}}, booktitle = {{Proceedings of the 16th IFAC World Congress}}, editor = {{Piztek, Pavel}}, isbn = {{0-08-045108-X}}, keywords = {{Inverted Pendulum; Non-linear control; Controllability set}}, language = {{eng}}, publisher = {{Elsevier}}, title = {{Manual Control and Stabilization of an Inverted Pendulum}}, year = {{2005}}, }