We found a match
Your institution may have access to this item. Find your institution then sign in to continue.
- Title
A linear differential flatness approach to controlling the Furuta pendulum.
- Authors
AGUILAR-IBÁÑEZ, CARLOS; SIRA-RAMÍREZ, HEBERTT
- Abstract
The aim of this work is to motivate the use of linear flatness, or controllability, to design a feedback control law for the rather challenging mechanism known as the ‘Furuta pendulum’. This is achieved by introducing three feedback controller design options for the stabilization and rest-to-rest trajectory tracking tasks: a direct pole placement approach, a hierarchical high-gain approach and a generalized proportional integral approach synthesized on the basis of measured inputs and outputs.
- Subjects
FLATNESS measurement; PENDULUMS; FEEDBACK control systems; INTEGRALS; ELECTRONIC feedback
- Publication
IMA Journal of Mathematical Control & Information, 2007, Vol 24, Issue 1, p31
- ISSN
0265-0754
- Publication type
Article
- DOI
10.1093/imamci/dnl005