Title :
Nonlinear control based on equilibrium point analysis for inverted pendulum
Author :
Morimoto, H. ; Kawamoto, S.
Author_Institution :
Dept. of Electr. & Electron. Syst., Osaka Prefectural Univ., Sakai, Japan
Abstract :
The aim of this paper is to apply a nonlinear control based on equilibrium point analysis to an inverted pendulum. First, a nonlinear function of the control input is determined by the analysis, and the pins to replace unstable point with stable one are obtained. Finally, it is demonstrated numerically that the pendulum can be transferred from pendant state to inverted one by the proposed nonlinear control.
Keywords :
nonlinear control systems; pendulums; equilibrium point analysis; inverted pendulum; nonlinear control; Control systems; Design methodology; Motion analysis; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear equations; Nonlinear systems; Numerical simulation; Power amplifiers; Power generation;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1195220
