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Stabilization of the Furuta pendulum around its homoclinic orbit

โœ Scribed by Fantoni, Isabelle; Lozano, Rogelio


Book ID
120243854
Publisher
Taylor and Francis Group
Year
2002
Tongue
English
Weight
307 KB
Volume
75
Category
Article
ISSN
0020-7179

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Stabilization of the inverted pendulum a
โœ Rogelio Lozano; Isabelle Fantoni; Dan J. Block ๐Ÿ“‚ Article ๐Ÿ“… 2000 ๐Ÿ› Elsevier Science ๐ŸŒ English โš– 231 KB

The inverted pendulum has been used as a benchmark for motivating the study of nonlinear control techniques. We propose a simple controller for balancing the inverted pendulum and raise it to its upper equilibrium position while the cart displacement is brought to zero. The control strategy is based