Stabilizing a rotary inverted pendulum based on Lyapunov stability theorem


The stabilization of Rotary Inverted Pendulum based on Lyapunov stability theorem is investigated in this paper. The key of designing controls by Lyapunov method is the construction of Lyapunov function. A logarithmic function is constructed as the Lyapunov function and is compared with the usual quadratic function theoretically. The comparative results… (More)


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