Nonlinear control of swing-up and stabilization of an inverted pendulum

In this paper an effective method of control for swing-up and stabilization for an inverted pendulum system is established without resorting to any approximation of each nonlinear terms appearing in the mathematical models. The key idea is to derive the partially linearized system by the coordinate...

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Bibliographic Details
Published inProceedings of 1995 34th IEEE Conference on Decision and Control Vol. 4; pp. 3873 - 3880 vol.4
Main Authors Ohsumi, A., Izumikawa, T.
Format Conference Proceeding
LanguageEnglish
Published IEEE Control Systems Society 1995
Subjects
Control systems
Linear systems
Motion control
Nonlinear control systems
Nonlinear equations
Nonlinear systems
Numerical simulation
State-space methods
Systems engineering and theory
Testing
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ISBN0780326857
9780780326859
ISSN0191-2216
DOI10.1109/CDC.1995.479206

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Summary:In this paper an effective method of control for swing-up and stabilization for an inverted pendulum system is established without resorting to any approximation of each nonlinear terms appearing in the mathematical models. The key idea is to derive the partially linearized system by the coordinate change and input transformation via the Lie theoretic approach and to apply a kind of equivalent linearizations to the resulting linear system with nonlinear output injection. Based on the linearized system, the control law is established performing both swing-up and stabilization of the pendulum. The effectiveness of the proposed control method is examined by numerical simulations and tested by experiments.
ISBN:0780326857
9780780326859
ISSN:0191-2216
DOI:10.1109/CDC.1995.479206