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Safe Manual Control of the Furuta Pendulum

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Author

Summary, in English

This paper deals with the manual control of unstable systems, subject to control signal saturation. In particular we consider the Furuta pendulum, where the problem is to control the orientation of the arm manually while stabilizing the inverted pendulum. This paper presents an analysis which leads to an insight into the problem as well as the control strategy. This control strategy has been implemented on the real Furuta pendulum. Aspects of the implementation as well as experimental results are discussed

Publishing year

2001

Language

English

Pages

890-895

Publication/Series

Proceedings of the 2001 IEEE International Conference on Control Applications, 2001. (CCA '01).

Document type

Conference paper

Publisher

IEEE - Institute of Electrical and Electronics Engineers Inc.

Topic

  • Control Engineering

Keywords

  • linearisation techniques
  • cascade control
  • nonlinear systems
  • stability
  • pendulums

Conference name

2001 IEEE International Conference on Control Applications

Conference date

2001-09-07

Conference place

Mexico City, Mexico

Status

Published

ISBN/ISSN/Other

  • ISBN: 0-7803-6733-2