DocumentCode
2768914
Title
Global stabilization of unstable equilibrium point of pendulum
Author
Shiriaev, A. ; Egeland, O. ; Ludvigsen, H.
Author_Institution
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
Volume
4
fYear
1998
fDate
16-18 Dec 1998
Firstpage
4584
Abstract
A modification of Fradkov´s energy based regulator (1996) is proposed for an inverted pendulum. The presented algorithm ensures global stabilization of the upper equilibrium, while in Fradkov´s method only the local control goal of stabilization is achieved. A particular interest in the paper is drawn to qualitative analysis of transient behaviour of the closed loop system
Keywords
closed loop systems; nonlinear control systems; pendulums; stability; closed loop system; energy based regulator; global stabilization; inverted pendulum; qualitative analysis; transient behaviour; unstable equilibrium point; upper equilibrium; Closed loop systems; Councils; Cybernetics; Damping; Energy states; Equations; Feedback control; Motion analysis; Motion control; Power engineering and energy;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location
Tampa, FL
ISSN
0191-2216
Print_ISBN
0-7803-4394-8
Type
conf
DOI
10.1109/CDC.1998.762050
Filename
762050
Link To Document