A model matching for the stabilization of the two Wheels Inverted Pendulum

Author

Gutierrez-Frias, O.O. ; Luviano-Juarez, A.

Author_Institution

CECyT No. 1 “GVV”, Inst. Politec. Nac., Mexico City, Mexico

fYear

2012

fDate

26-28 Sept. 2012

Firstpage

1

Lastpage

6

Abstract

In this article, a model matching controller for the stabilization of the Two Wheels Inverted Pendulum is present. The stabilization strategy consists in forcing the closed-loop system to behave as another nonlinear target system with some stability properties. To this end, we solve two matching conditions that allow us to shape a suitable target system and we obtain the stabilizing controller. The resulting closed-loop system is locally asymptotically exponentially stable, with a very large domain of attraction.

Keywords

asymptotic stability; closed loop systems; nonlinear control systems; pendulums; attraction domain; closed-loop system; local asymptotic exponential stability; model matching controller; nonlinear target system; stabilizing controller; two wheels inverted pendulum; Asymptotic stability; Closed loop systems; Damping; Equations; Force; Stability analysis; Wheels; Control Lagrange; Non-Linear Control; Two Wheels Inverted Pendulum; Underactuated System;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical Engineering, Computing Science and Automatic Control (CCE), 2012 9th International Conference on

Conference_Location

Mexico City

Print_ISBN

978-1-4673-2170-9

Type

conf

DOI

10.1109/ICEEE.2012.6421175

Filename

6421175