Title :
On global properties of passivity based control of the inverted pendulum
Author :
Shiriaev, A. ; Ludvigsen, H. ; Egeland, O. ; Pogromsky, A.
Author_Institution :
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
Abstract :
The problem of stabilization of the inverted pendulum on a cart is considered. The proposed technique is based on the passivity of the inverted pendulum and reflects its global properties. The new feedback regulators provide that any solution of the closed loop system, except for initial conditions lying on some 2-dimensional manifold, will be in any neighbourhood of the unstable equilibrium with zero displacement of the cart
Keywords :
asymptotic stability; closed loop systems; feedback; nonlinear control systems; position control; cart; feedback regulators; global properties; inverted pendulum; passivity based control; unstable equilibrium; Closed loop systems; Control systems; Cybernetics; Displacement control; Feedback loop; Friction; Nonlinear control systems; Regulators; State feedback; State-space methods;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.831305
