Corpus ID: 11887086

Control of an Inverted Pendulum

@inproceedings{Lam2004ControlOA,
  title={Control of an Inverted Pendulum},
  author={J. Lam},
  year={2004}
}
  • J. Lam
  • Published 2004
  • Computer Science
Figure 1: The inverted pendulum. This experiment consists of a cart with mass Mc on a one dimensional track with a pendulum attached to the cart. The pendulum starts in the upward position. The cart is driven by a force from a servo motor. The position of the cart is denoted by xc(t), and the Voltage to the servo motor is denoted by v(t). The angle between the pendulum and its vertical or upright position is denoted by α; see Figure 1. The nonlinear equations of motion 
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References

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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 nonlinearExpand
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A nonlinear controller to regulate the swinging energy of the pendulum for a cart and pendulum system is proposed and the stability of the closed-loop system is analyzed using an small-gain approach on a transverse linearization of the system about the desired periodic orbit. Expand
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It is shown that the behavior critically depends on the ratio of the maximum acceleration of the pivot to the acceleration of gravity. Expand
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