Title :
Feedback stabilization of the inverted pendulum system via interconnection and damping assignment-passivity based control
Author_Institution :
Autom. Dept., Univ. of Mouloud MAMMERI, Tizi-Ouzou, Algeria
Abstract :
In this paper, we apply the interconnection and damping assignment passivity-based control (IDA-PBC) design technique to the problem of stabilization of the underactuated mechanical system called inverted pendulum on a cart. The purpose of this paper is to review the fundamental theory of this control system design. Simulation results show the effectiveness of the proposed control system.
Keywords :
control system synthesis; feedback; nonlinear systems; pendulums; stability; IDA-PBC design technique; cart; damping assignment-passivity based control; feedback stabilization; interconnection; inverted pendulum system; underactuated mechanical system; Damping; Equations; Mathematical model; Mechanical systems; Potential energy; Transient analysis; Vectors;
Conference_Titel :
Systems and Control (ICSC), 2013 3rd International Conference on
Conference_Location :
Algiers
Print_ISBN :
978-1-4799-0273-6
DOI :
10.1109/ICoSC.2013.6750945
