Stabilization of the inverted pendulum a
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Rogelio Lozano; Isabelle Fantoni; Dan J. Block
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Article
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2000
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Elsevier Science
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English
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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