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Stabilization of a chain of integrators with nonlinear perturbations: application to the inverted pendulum | IEEE Conference Publication | IEEE Xplore

Stabilization of a chain of integrators with nonlinear perturbations: application to the inverted pendulum


Abstract:

A solution to the long standing problem of the pendulum on a cart is presented. This solution involves a reformulation of the original system model in order to show that ...Show More

Abstract:

A solution to the long standing problem of the pendulum on a cart is presented. This solution involves a reformulation of the original system model in order to show that the inverted pendulum system belongs to a particular class of nonlinear systems: a class consisting of four cascaded integrators and a nonlinear "perturbation" term. Our controller first brings the pendulum close to the vertical unstable equilibrium point and then regulates the cart position around the origin. We prove that using the proposed control strategy, all state variables converge to zero for a given set of initial conditions (/spl theta/(0), /spl theta/(0)) belonging to a special domain of attraction.
Date of Conference: 09-12 December 2003
Date Added to IEEE Xplore: 15 March 2004
Print ISBN:0-7803-7924-1
Print ISSN: 0191-2216
Conference Location: Maui, HI, USA

References

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