Ontology type: schema:ScholarlyArticle
2008-09
AUTHORSCarlos Aguilar Ibañez, O. Gutiérrez Frias
ABSTRACTA nonlinear controller is presented for the stabilization of the underactuated inverted pendulum mounted on a cart. The fact that this system can be expressed as a chain of integrators, with an additionally nonlinear perturbation, allows us to use a nested saturation control technique to bring the pendulum to the top position, with zero displacement of the cart. The obtained closed-loop system is semiglobal, asymptotically stable, and locally exponentially stable, under the assumption that the position of the angle is initialized above the upper half plane. More... »
PAGES273-280
http://scigraph.springernature.com/pub.10.1007/s11071-007-9224-3
DOIhttp://dx.doi.org/10.1007/s11071-007-9224-3
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