✦ LIBER ✦

Stabilization of the inverted pendulum around its homoclinic orbit

✍ Scribed by Rogelio Lozano; Isabelle Fantoni; Dan J. Block

Book ID: 104300256
Publisher: Elsevier Science
Year: 2000
Tongue: English
Weight: 231 KB
Volume: 40
Category: Article
ISSN: 0167-6911
DOI: 10.1016/s0167-6911(00)00025-6

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✦ Synopsis

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 on an energy approach of the cart and pendulum system.

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