DocumentCode
1661129
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
Volume
2
fYear
1994
Firstpage
1647
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/CDC.1994.411206
Filename
411206
Link To Document