DocumentCode
3464153
Title
Instabilities in the feedback linearization of a double inverted pendulum
Author
Walker, G. ; Salem, N. ; Varghese, M. ; Fuchs, A. ; Mukundan, R.
Author_Institution
Clarkson Univ., Potsdam, NY, USA
fYear
1993
fDate
1-3 Aug. 1993
Firstpage
89
Lastpage
92
Abstract
Numerical results in the feedback linearization of a double pendulum system are presented. Singularities in the vector field of the closed-loop system manifest themselves as numerical instabilities when the denominator of the linearizing control input is sufficiently small. In a practical example, such as balancing a two-link manipulator along an equilibrium manifold, a method to steer the system away from an ill-conditioned control law is suggested.<>
Keywords
closed loop systems; feedback; linearisation techniques; stability; closed-loop system; double inverted pendulum; equilibrium manifold; feedback linearization; ill-conditioned control law; numerical instabilities; two-link manipulator; vector field singularities; Closed loop systems; Feedback; Linear approximation; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems Engineering, 1991., IEEE International Conference on
Conference_Location
Dayton, OH, USA
Print_ISBN
0-7803-0173-0
Type
conf
DOI
10.1109/ICSYSE.1991.161087
Filename
161087
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