Modelling and constrained stabilization of the Inverted Pendulum on a Cart Beam system

Author

Sankaranarayanan, V. ; Anantharaman, S. ; Chandarr, A. B Aswin ; Adarsh, K.S.

Author_Institution

Dept. of Electr. & Electron. Eng., Nat. Inst. of Technol., Tiruchirappalli, India

fYear

2009

fDate

15-18 Dec. 2009

Firstpage

7955

Lastpage

7959

Abstract

We propose an underactuated mechanical system named inverted pendulum on a cart beam system. The proposed system has three degrees-of-freedom and one control input. The mathematical model is derived using Lagrangian method and the stabilization is achieved with constraints using a linear controller designed based on linear matrix inequality approach. Simulation results are presented to validate the proposed technique.

Keywords

control system synthesis; linear matrix inequalities; nonlinear systems; pendulums; stability; Lagrangian method; cart beam system; constrained stabilization; inverted pendulum; linear controller design; linear matrix inequality; mathematical model; underactuated mechanical system; Boundary conditions; Control design; Control systems; Couplings; Entropy; Feedback control; Nonlinear control systems; Partial differential equations; Pi control; Proportional control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on

Conference_Location

Shanghai

ISSN

0191-2216

Print_ISBN

978-1-4244-3871-6

Electronic_ISBN

0191-2216

Type

conf

DOI

10.1109/CDC.2009.5399790

Filename

5399790