This work deals with the control of a rotary inverted pendulum (see Figure 1). This device is composed of the following: an arm rotating in the horizontal plane where one of its ends is mounted on a motor shaft and where a rod is mounted on its other end. The rod's lower end is mounted on the arm's
Discrete computer control of a triple-inverted pendulum
β Scribed by H. Zu Meier Farwig; H. Unbehauen
- Publisher
- John Wiley and Sons
- Year
- 1990
- Tongue
- English
- Weight
- 890 KB
- Volume
- 11
- Category
- Article
- ISSN
- 0143-2087
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π SIMILAR VOLUMES
The paper adresses the problem of stabilization of a speci"c target position of underactuated Lagrangian or Hamiltonian systems. We propose to solve the problem in two steps: "rst to stabilize a set with the target position being a limit point for all trajectories originating in this set and then to
In this article, we look at the excellent effect of vertical force as regards the stabilization of the inverted pendulum (IP) and demonstrate how the fuzzy control design methodology can be used to construct a hybrid fuzzy control system that incorporates PD control into a Takagi-Sugeno fuzzy contro