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
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;
Conference_Titel :
Control Applications, 1996., Proceedings of the 1996 IEEE International Conference on
Conference_Location :
Dearborn, MI
Print_ISBN :
0-7803-2975-9
DOI :
10.1109/CCA.1996.558752
