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Controller design for an inverted pendulum based on approximate linearization

✍ Scribed by Toshiharu Sugie; Kenji Fujimoto

Publisher: John Wiley and Sons
Year: 1998
Tongue: English
Weight: 150 KB
Volume: 8
Category: Article
ISSN: 1049-8923
DOI: 10.1002/(sici)1099-1239(199806)8:7<585::aid-rnc331>3.0.co;2-b

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✦ Synopsis

In this paper, taking the inverted pendulum as an example of nonlinear systems which are not exactly linearizable, we give a controller design method for the system based on approximate linerization. In the method, we try to suppress the effect of the higher order residual terms in choosing the new co-ordinate for the approximate linearization. Furthermore, we show its effectiveness by experiments.

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