DocumentCode
697113
Title
Stabilization of the variable-length pendulum
Author
Navarro-Lopez, E.M. ; Fossas-Colet, E.
Author_Institution
Inst. d´Organitzacio i Control, Univ. Politec. de Catalunya, Barcelona, Spain
fYear
2001
fDate
4-7 Sept. 2001
Firstpage
675
Lastpage
680
Abstract
The variable-length pendulum, proved to be nonminimum phase and non static-state-feedback linearizable, is stabilized around an equilibrium point by means of the passivity-based design control technique of Energy Shaping plus Damping Injection.
Keywords
damping; nonlinear control systems; pendulums; stability; state feedback; damping injection; energy shaping; nonlinear system; nonminimum phase; nonstatic-state-feedback; passivity-based design control technique; variable-length pendulum stabilization; Asymptotic stability; Closed loop systems; Control design; Damping; Energy storage; Stability analysis; Dissipative and Energy-based Design; Stabilization of Non-linear systems; Variable-length pendulum;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 2001 European
Conference_Location
Porto
Print_ISBN
978-3-9524173-6-2
Type
conf
Filename
7075987
Link To Document