Title :
Control of inverted pendulum systems based on approximate linearization: design and experiment
Author :
Sugie, Toshiharu ; Fujimoto, Kenji
Author_Institution :
Div. of Appl. Syst. Sci., Kyoto Univ., Japan
Abstract :
In this paper, we design a nonlinear controller for inverted pendulum systems based on the approximate linearization technique, where we try to suppress the effect of the higher order residual terms in choosing the coordinate for the first order approximate linearization. The effectiveness of the obtained controller is demonstrated via experiments
Keywords :
control system synthesis; linearisation techniques; nonlinear control systems; first-order approximate linearization; high-order residual term suppression; inverted pendulum system control; nonlinear controller; Control systems; Control theory; Equations; Least squares approximation; Linear approximation; Linearization techniques; Nonlinear control systems; Nonlinear systems; State feedback; Torque;
Conference_Titel :
Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on
Conference_Location :
Lake Buena Vista, FL
Print_ISBN :
0-7803-1968-0
DOI :
10.1109/CDC.1994.411206
