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A Nonlinear Observer for the Inverted Pendulum

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Author

Summary, in English

This paper deals with the design of a nonlinear observer for the inverted pendulum. The observer uses the standard structure of the linear observer with the linear model replaced by a nonlinear model. Nominal observer gains are determined from a linearised model. This model is also used to find a compromise between robustness and performance. The stability of the observer is then discussed and conditions for the stability of the observer are given. The results are illustrated by simulation and experiments on a real pendulum

Publishing year

1996

Language

English

Document type

Conference paper

Topic

  • Control Engineering

Conference name

1996 IEEE Conference on Control Applications

Conference date

1996-09-15

Status

Published