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Controller design for an inverted pendulum based on approximate linearization (1998)
| Content Provider | CiteSeerX |
|---|---|
| Author | Fujimoto, Kenji Sugie, Toshiharu |
| Abstract | SUMMARY: In this paper, taking the inverted pendulum as an ex-ample of nonlinear systems which are not exactly linearizable, we give a controller design method for the system based on the approximate lin-earization. In the method, we try to suppress the eect of the higher order residual terms in choosing the new coordinate for the approximate linearization. Furthermore, we show its eectiveness by experiments. KEY WORDS: nonlinear control, approximate linearization, inverted pendulum, geometric approach, least square technique. |
| File Format | |
| Journal | Int. J. Robust and Nonlinear Control |
| Publisher Date | 1998-01-01 |
| Access Restriction | Open |
| Subject Keyword | Controller Design Method Approximate Linearization New Coordinate Nonlinear Control Inverted Pendulum Order Residual Term Approximate Lin-earization Square Technique |
| Content Type | Text |
