TY - JOUR
T1 - A linear differential flatness approach to controlling the Furuta pendulum
AU - Aguilar-Ibáñez, Carlos
AU - Sira-Ramírez, Hebertt
N1 - Funding Information:
This research was supported by the Centro de Investigación en Computación of the IPN, by the Co-ordinación de Posgrado e Investigación of the IPN, under Research Grant 20020247, by the Centro de Investigación y Estudios Avanzados del IPN and by the Consejo Nacional de Ciencia y Tecnología (CONACYT-México), under Research Grant 32681-A.
PY - 2007/3
Y1 - 2007/3
N2 - The aim of this work is to motivate the use of linear flatness, or controllability, to design a feedback control law for the rather challenging mechanism known as the 'Furuta pendulum'. This is achieved by introducing three feedback controller design options for the stabilization and rest-to-rest trajectory tracking tasks: a direct pole placement approach, a hierarchical high-gain approach and a generalized proportional integral approach synthesized on the basis of measured inputs and outputs.
AB - The aim of this work is to motivate the use of linear flatness, or controllability, to design a feedback control law for the rather challenging mechanism known as the 'Furuta pendulum'. This is achieved by introducing three feedback controller design options for the stabilization and rest-to-rest trajectory tracking tasks: a direct pole placement approach, a hierarchical high-gain approach and a generalized proportional integral approach synthesized on the basis of measured inputs and outputs.
KW - Flatness
KW - Furuta pendulum system
KW - Generalized proportional integral control
KW - High-gain control
UR - http://www.scopus.com/inward/record.url?scp=33947158746&partnerID=8YFLogxK
U2 - 10.1093/imamci/dnl005
DO - 10.1093/imamci/dnl005
M3 - Artículo
SN - 0265-0754
VL - 24
SP - 31
EP - 45
JO - IMA Journal of Mathematical Control and Information
JF - IMA Journal of Mathematical Control and Information
IS - 1
ER -