DocumentCode
1813389
Title
On global properties of passivity based control of the inverted pendulum
Author
Shiriaev, A. ; Ludvigsen, H. ; Egeland, O. ; Pogromsky, A.
Author_Institution
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
Volume
3
fYear
1999
fDate
1999
Firstpage
2513
Abstract
The problem of stabilization of the inverted pendulum on a cart is considered. The proposed technique is based on the passivity of the inverted pendulum and reflects its global properties. The new feedback regulators provide that any solution of the closed loop system, except for initial conditions lying on some 2-dimensional manifold, will be in any neighbourhood of the unstable equilibrium with zero displacement of the cart
Keywords
asymptotic stability; closed loop systems; feedback; nonlinear control systems; position control; cart; feedback regulators; global properties; inverted pendulum; passivity based control; unstable equilibrium; Closed loop systems; Control systems; Cybernetics; Displacement control; Feedback loop; Friction; Nonlinear control systems; Regulators; State feedback; State-space methods;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location
Phoenix, AZ
ISSN
0191-2216
Print_ISBN
0-7803-5250-5
Type
conf
DOI
10.1109/CDC.1999.831305
Filename
831305
Link To Document