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Manual Control and Stabilization of an Inverted Pendulum

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Author

Editor

  • Pavel Piztek

Summary, in English

The problem of stabilizing an inverted pendulum on a cart while enabling manual control of the cart velocity is treated. Introduction of an input saturation nonlinearity makes the problem challenging in the sense that the system may be driven to a state where recovery is not possible. A controller based on the controllability set of the inverted pendulum, which ensures stability and tracking of constant reference velocities for the cart is developed. The controller also offers a trade-off between performance and robustness.

Publishing year

2005

Language

English

Publication/Series

Proceedings of the 16th IFAC World Congress

Document type

Conference paper

Publisher

Elsevier

Topic

  • Control Engineering

Keywords

  • Inverted Pendulum
  • Non-linear control
  • Controllability set

Status

Published

ISBN/ISSN/Other

  • ISBN: 0-08-045108-X