Title :
Novel control of an inverted pendulum
Author :
Dimeo, Robert M. ; A. Thomopoulos, Stelios
Author_Institution :
Dept. of Electr. Eng., Pennsylvania State Univ., University Park, PA, USA
fDate :
29 June-1 July 1994
Abstract :
High frequency vertical oscillations of the pivot point of the inverted pendulum are investigated as a means of stabilizing the pendulum. Four cases are considered. The standard cart-pendulum is analyzed using optimal control techniques both with and without a vertical pivot oscillation. The stability of a simple inverted pendulum is investigated with a pure tone vertical displacement and then a gradient search is applied to determine a modulated vertical displacement to achieve asymptotic stability.
Keywords :
asymptotic stability; nonlinear control systems; optimal control; search problems; asymptotic stability; cart-pendulum; gradient search; high-frequency vertical oscillations; inverted pendulum; modulated vertical displacement; optimal control; pure tone vertical displacement; stabilization; vertical pivot oscillation; Asymptotic stability; Control systems; Feedback; Frequency; Lagrangian functions; Nonlinear equations; Optimal control; Regulators; Riccati equations; State-space methods;
Conference_Titel :
American Control Conference, 1994
Print_ISBN :
0-7803-1783-1
DOI :
10.1109/ACC.1994.752463
