A new controller for the inverted pendulum on a cart

DOI10.1002/rnc.1300zbMath1160.93378OpenAlexW1993718827MaRDI QIDQ3626935

Francisco Gordillo, Javier Aracil

Publication date: 14 May 2009

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL: https://idus.us.es/xmlui/handle/11441/23513

zbMATH Keywords

stability analysisstabilization methodsenergy controlswing upcontrol of pendulums

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Design techniques (robust design, computer-aided design, etc.) (93B51) Robust stability (93D09) Control/observation systems governed by ordinary differential equations (93C15)

Related Items

Stabilization of a cart with inverted pendulum, Output feedback stabilization of the inverted pendulum system: a Lyapunov approach, Stabilization via fully actuated system approach: a case study, Stabilization of a class of nonlinear underactuated robotic systems through nonsingular fast terminal sliding mode control, On topological obstructions to global stabilization of an inverted pendulum, Furuta's pendulum: a conservative nonlinear model for theory and practise, Stabilization of the inverted pendulum via a constructive Lyapunov function, Control of an inverted pendulum on a wheel

Cites Work

• On the input-to-state stability property
• Global stabilization and restricted tracking for multiple integrators with bounded controls
• Stabilization of the inverted pendulum around its homoclinic orbit
• A new swing-up law for the Furuta pendulum
• Nonlinear Control of Feedforward Systems With Bounded Signals
• Almost global stabilization of the inverted pendulum via continuous state feedback