The real stabilizability radius of the multi-link inverted pendulum

@article{Lam2006TheRS,
  title={The real stabilizability radius of the multi-link inverted pendulum},
  author={S. S. Lam and E. J. Davison},
  journal={2006 American Control Conference},
  year={2006},
  pages={6 pp.-}
}
A multi-link inverted pendulum with an arbitrary number of v links and controlled by a single torque input is considered in this paper. It is well known that as the number of pendulum links increases, an experimental pendulum system becomes more difficult to stabilize, and this is demonstrated in this paper for a nonlinear model of a multi-link inverted pendulum system. It is conjectured that the primary reason for such an increase of difficulty is due to the poor stabilizability robustness… CONTINUE READING
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