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https://www.um.edu.mt/library/oar/handle/123456789/103462
Title: | Non-linear swing-up and stabilizing control of an inverted pendulum system |
Authors: | Bugeja, Marvin K. |
Keywords: | Nonlinear control theory Cascade converters Feedback control systems State-space methods |
Issue Date: | 2003 |
Publisher: | W I N - Verlag GmbH & Co. KG |
Citation: | Bugeja, M. K. (2003). Non-linear swing-up and stabilizing control of an inverted pendulum system. Engineering Today, 18, 9-13. |
Abstract: | This article presents the design and implementation of a complete control system for the swing-up and stabilizing control of an inverted pendulum. In particular, this work outlines the effectiveness of the swing-up method proposed in, based on feedback linearization and energy considerations. The power of modern state-space techniques for the analysis and control of Multiple Input Multiple Output (MIMO) systems is also investigated and a state-feedback controller is employed for stabilizing the pendulum. Cascade control is then utilized to reduce the complexity of the complete controller by splitting it into two separate control loops operating at well distinct bandwidths. |
URI: | https://www.um.edu.mt/library/oar/handle/123456789/103462 |
Appears in Collections: | Scholarly Works - FacEngSCE |
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File | Description | Size | Format | |
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Non Linear swing up and stabilizing control of an inverted pendulum system 2003.pdf Restricted Access | 319.24 kB | Adobe PDF | View/Open Request a copy |
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