High-Low Gain Redesign for a 4 DOF Spherical Inverted Pendulum


We revisit a previous high-low gain control idea for a 4 DOF spherical inverted pendulum using a different approach, inspired by a nested saturation tool proposed by Marconi and Isidori, that provides explicit tuning rules to deal with certain bounded external disturbances. The update controller is a robust, decentralized and “global” controller. 

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