Title :
Application of dynamic inversion with extended high-gain observers to inverted pendulum on a cart
Author :
Joonho Lee ; Mukherjee, Rohan ; Khalil, Hassan K.
Author_Institution :
Dept. of Mech. Eng., Michigan State Univ., East Lansing, MI, USA
Abstract :
In this paper we utilize dynamic inversion together with high-gain observers to stabilize an inverted pendulum on a cart. Dynamic inversion is used to invert the nonlinear map involving the control input and the high-gain observers are used to estimate the states and terms related to acceleration variables. Through numerical simulations and experiments, it is shown that it is possible to stabilize the inverted pendulum on a cart and recover the performance of state feedback control.
Keywords :
acceleration; nonlinear systems; observers; pendulums; stability; state feedback; acceleration variables; control input; dynamic inversion; extended high-gain observers; inverted pendulum on a cart; nonlinear map; numerical simulations; state estimation; state feedback control performance; Acceleration; Interference; Observers; Output feedback; Signal to noise ratio; State feedback; Trajectory;
Conference_Titel :
American Control Conference (ACC), 2013
Conference_Location :
Washington, DC
Print_ISBN :
978-1-4799-0177-7
DOI :
10.1109/ACC.2013.6580490
