TY - GEN
T1 - Practical design and control of a novel inverted pendulum
AU - Lu, Yu Sheng
AU - Chiu, Hua Hsu
AU - Lien, Shu Fen
PY - 2011
Y1 - 2011
N2 - This paper investigates the design and control of a novel inverted pendulum. First, the structure of the inverted pendulum is presented, and its mathematical model is derived using Euler-Lagrange's equations. Using a transformed model, a nonlinear control scheme is applied to this new inverted pendulum. The non-linear control scheme is based on the well-known backstepping design approach to obtain a nonlinear controller that is suitable for both regulation and tracking tasks. Furthermore, the control scheme is practically implemented and compared in this inverted pendulum system in order to investigate its effectiveness.
AB - This paper investigates the design and control of a novel inverted pendulum. First, the structure of the inverted pendulum is presented, and its mathematical model is derived using Euler-Lagrange's equations. Using a transformed model, a nonlinear control scheme is applied to this new inverted pendulum. The non-linear control scheme is based on the well-known backstepping design approach to obtain a nonlinear controller that is suitable for both regulation and tracking tasks. Furthermore, the control scheme is practically implemented and compared in this inverted pendulum system in order to investigate its effectiveness.
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M3 - Conference contribution
AN - SCOPUS:80052091053
SN - 9780956715708
T3 - Proceedings of 2011 International Conference on Modelling, Identification and Control, ICMIC 2011
SP - 235
EP - 239
BT - Proceedings of 2011 International Conference on Modelling, Identification and Control, ICMIC 2011
T2 - 2011 International Conference on Modelling, Identification and Control, ICMIC 2011
Y2 - 26 June 2011 through 29 June 2011
ER -