Title :
Switching stabilization for the inverted pendulum system
Author :
Song Yang ; Xie Jin-xia ; Shi Yi-qing ; Jia Li
Author_Institution :
Dept. of Autom., Shanghai Univ., Shanghai, China
Abstract :
This paper investigates the stabilization of the single inverted pendulum system by using switching state feedback control. The switching controllers are composed of a steering controller and a stabilization controller. The steering controller is applied to drive the state trajectory into a preset region, and the stabilization controller makes the state trajectory converge to the original point. A numerical example is provided to illustrate the effectiveness of the proposed method.
Keywords :
asymptotic stability; control system synthesis; nonlinear control systems; state feedback; time-varying systems; asymptotic stability; inverted pendulum system; numerical example; preset region; state trajectory convergence; steering controller; switching stabilization controller design; switching state feedback control; Automatic control; Automation; Control systems; Legged locomotion; Neural networks; Rails; Sliding mode control; State feedback; Switched systems; Switches; Inverted Pendulum; Stabilization; Switched System;
Conference_Titel :
Control and Decision Conference, 2009. CCDC '09. Chinese
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-2722-2
Electronic_ISBN :
978-1-4244-2723-9
DOI :
10.1109/CCDC.2009.5191582
