DocumentCode
2346453
Title
A nonlinear observer for the inverted pendulum
Author
Eker, J. ; Åström, K.J.
Author_Institution
Dept. of Autom. Control, Lund Inst. of Technol., Sweden
fYear
1996
fDate
15-18 Sep 1996
Firstpage
332
Lastpage
337
Abstract
This paper deals with the design of a nonlinear observer for the inverted pendulum. The observer uses the standard structure of the linear observer with the linear model replaced by a nonlinear model. Nominal observer gains are determined from a linearised model. This model is also used to find a compromise between robustness and performance. The stability of the observer is then discussed and conditions for the stability of the observer are given. The results are illustrated by simulation and experiments on a real pendulum
Keywords
Kalman filters; feedback; filtering theory; nonlinear control systems; observers; robust control; inverted pendulum; linear observer; linearised model; nominal observer gains; nonlinear observer; Angular velocity; Equations; Filters; Frequency estimation; Goniometers; Noise measurement; Observers; Stability; State feedback; Velocity measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 1996., Proceedings of the 1996 IEEE International Conference on
Conference_Location
Dearborn, MI
Print_ISBN
0-7803-2975-9
Type
conf
DOI
10.1109/CCA.1996.558752
Filename
558752
Link To Document