Title :
Global stabilization of unstable equilibrium point of pendulum
Author :
Shiriaev, A. ; Egeland, O. ; Ludvigsen, H.
Author_Institution :
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
Abstract :
A modification of Fradkov´s energy based regulator (1996) is proposed for an inverted pendulum. The presented algorithm ensures global stabilization of the upper equilibrium, while in Fradkov´s method only the local control goal of stabilization is achieved. A particular interest in the paper is drawn to qualitative analysis of transient behaviour of the closed loop system
Keywords :
closed loop systems; nonlinear control systems; pendulums; stability; closed loop system; energy based regulator; global stabilization; inverted pendulum; qualitative analysis; transient behaviour; unstable equilibrium point; upper equilibrium; Closed loop systems; Councils; Cybernetics; Damping; Energy states; Equations; Feedback control; Motion analysis; Motion control; Power engineering and energy;
Conference_Titel :
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location :
Tampa, FL
Print_ISBN :
0-7803-4394-8
DOI :
10.1109/CDC.1998.762050
