Title :
A recursive design method of stabilization controller for the inertia wheel pendulum
Author :
Yiqing, Wang ; Sheng, Li ; Qingwei, Chen
Author_Institution :
Sch. of Autom. & Electron. Eng., Nanjing Univ. of Technol., Nanjing, China
Abstract :
Aimed at the stabilization problem of the Inertia Wheel Pendulum system, a recursive design method of stabilization controller is present. And a state feedback controller with explicit form was obtained. The stability of the closed loop system was analyzed by input-to-state stability. Finally, the effectiveness and performance of the proposed stabilization controllers for an inertia wheel pendulum system with parameters taken from a real-life model of the IWP is shown through simulations.
Keywords :
closed loop systems; control system synthesis; nonlinear control systems; pendulums; stability; state feedback; closed loop system; inertia wheel pendulum system; input-to-state stability; recursive design method; stabilization controller; state feedback controller; Asymptotic stability; Stability analysis; Switches; Torque; Trajectory; Wheels; feedback stabilization; inertia wheel pendulum; nonlinear control; underactuated system;
Conference_Titel :
Industrial Electronics and Applications (ICIEA), 2011 6th IEEE Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-8754-7
Electronic_ISBN :
pending
DOI :
10.1109/ICIEA.2011.5975794
