Title :
Stabilization of the cart-pendulum system via quasi-homogeneous switched control
Author :
Riachy, Samer ; Floquet, Thierry ; Orlov, Yuri ; Richard, Jean-Pierre
Author_Institution :
LAGIS, Ecole Centrale de Lille, Villeneuve d´´Ascq
Abstract :
In this paper, a quasi-homogeneous switched controller for the stabilization of the cart-pendulum system is developed. Based on nonlinear system equations, it provides a large domain of attraction as compared to other controllers given in the literature. It is shown to be robust with respect to matched perturbations
Keywords :
nonlinear control systems; nonlinear equations; pendulums; perturbation techniques; stability; time-varying systems; cart-pendulum system; matched perturbations; nonlinear system equations; quasi-homogeneous switched control; stabilization; Control systems; Friction; Linear feedback control systems; Manipulator dynamics; Nonlinear control systems; Nonlinear equations; Nonlinear systems; State feedback; Switched systems; Switches;
Conference_Titel :
Variable Structure Systems, 2006. VSS'06. International Workshop on
Conference_Location :
Alghero, Sardinia
Print_ISBN :
1-4244-0208-5
DOI :
10.1109/VSS.2006.1644507
