DocumentCode
393444
Title
Nonlinear control based on equilibrium point analysis for inverted pendulum
Author
Morimoto, H. ; Kawamoto, S.
Author_Institution
Dept. of Electr. & Electron. Syst., Osaka Prefectural Univ., Sakai, Japan
Volume
1
fYear
2002
fDate
5-7 Aug. 2002
Firstpage
238
Abstract
The aim of this paper is to apply a nonlinear control based on equilibrium point analysis to an inverted pendulum. First, a nonlinear function of the control input is determined by the analysis, and the pins to replace unstable point with stable one are obtained. Finally, it is demonstrated numerically that the pendulum can be transferred from pendant state to inverted one by the proposed nonlinear control.
Keywords
nonlinear control systems; pendulums; equilibrium point analysis; inverted pendulum; nonlinear control; Control systems; Design methodology; Motion analysis; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear equations; Nonlinear systems; Numerical simulation; Power amplifiers; Power generation;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN
0-7803-7631-5
Type
conf
DOI
10.1109/SICE.2002.1195220
Filename
1195220
Link To Document