Title :
Hybrid control of a cart-pendulum system with restrictions on the travel
Author :
Gromov, Dmitry ; Raisch, Jörg
Author_Institution :
Syst. & Control Theor. Group, Max-Planck-Inst. fur Dynamik Komplexer Technischer Syst., Magdeburg, Germany
Abstract :
A globally stabilizing controller for a cart-pendulum system is developed. It is shown that the use of hybrid methods can significantly simplify the procedure of control synthesis in the presence of restrictions on the control signal and on the length of travel. A special feature of the proposed approach is that restrictions are embedded into the control algorithm.
Keywords :
control system synthesis; nonlinear control systems; pendulums; stability; cart-pendulum system; control signal; hybrid control; stabilizing controller; travel restrictions; Actuators; Control system synthesis; Control systems; Control theory; Ear; Feedback; Mechanical systems; Petroleum; Signal synthesis; Stability;
Conference_Titel :
Physics and Control, 2003. Proceedings. 2003 International Conference
Print_ISBN :
0-7803-7939-X
DOI :
10.1109/PHYCON.2003.1237083
