Title :
How to escape from the fragility trap [control]
Author :
Kaesbauer, D. ; Ackermann, J.
Author_Institution :
Inst. of Robotics & Syst. Dynamics, Aerosp. Center, Oberpfaffenhofen, Germany
Abstract :
The inverted pendulum is used as an example to illustrate controller fragility under minimum norm state feedback. The stabilization process gets trapped in a cusp. A parameter space representation shows a safe escape
Keywords :
nonlinear control systems; stability; state feedback; controller fragility; cusp; inverted pendulum; minimum norm state feedback; parameter space representation; safe escape; stabilization; Aerodynamics; Aerospace control; Control systems; Cranes; Orbital robotics; Polynomials; Robust control; Stability; State feedback; Visualization;
Conference_Titel :
American Control Conference, 1998. Proceedings of the 1998
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-7803-4530-4
DOI :
10.1109/ACC.1998.688372
