Title :
Nonlinear regulation of a seesaw inverted pendulum
Author :
Ramos, L.E. ; Castillo-Toledo, B. ; Negretc, S.
Author_Institution :
CINVESTAV-IPN, Guadalajara Univ., Mexico
Abstract :
The problem of controlling an underactuated system, the so-called seesaw-inverted pendulum, consisting in two cars, one of them with an inverted pendulum and placed on a balancing seesaws, is addressed. The simulation and experimental results for tracking a reference signal are presented
Keywords :
control system analysis; nonlinear control systems; pendulums; state feedback; tracking; balancing seesaws; inverted pendulum; nonlinear control systems; reference signal tracking; state feedback; underactuated system; Control systems; Eigenvalues and eigenfunctions; Elbow; Jacobian matrices; Radio control; Regulators; Robots; Signal design; Spline; Trajectory;
Conference_Titel :
Control Applications, 1998. Proceedings of the 1998 IEEE International Conference on
Conference_Location :
Trieste
Print_ISBN :
0-7803-4104-X
DOI :
10.1109/CCA.1998.721690
