TY - GEN
T1 - A model matching for the stabilization of the two Wheels Inverted Pendulum
AU - Gutierrez-Frias, O. Octavio
AU - Luviano-Juarez, A.
PY - 2012
Y1 - 2012
N2 - In this article, a model matching controller for the stabilization of the Two Wheels Inverted Pendulum is present. The stabilization strategy consists in forcing the closed-loop system to behave as another nonlinear target system with some stability properties. To this end, we solve two matching conditions that allow us to shape a suitable target system and we obtain the stabilizing controller. The resulting closed-loop system is locally asymptotically exponentially stable, with a very large domain of attraction.
AB - In this article, a model matching controller for the stabilization of the Two Wheels Inverted Pendulum is present. The stabilization strategy consists in forcing the closed-loop system to behave as another nonlinear target system with some stability properties. To this end, we solve two matching conditions that allow us to shape a suitable target system and we obtain the stabilizing controller. The resulting closed-loop system is locally asymptotically exponentially stable, with a very large domain of attraction.
KW - Control Lagrange
KW - Non-Linear Control
KW - Two Wheels Inverted Pendulum
KW - Underactuated System
UR - http://www.scopus.com/inward/record.url?scp=84874410389&partnerID=8YFLogxK
U2 - 10.1109/ICEEE.2012.6421175
DO - 10.1109/ICEEE.2012.6421175
M3 - Contribución a la conferencia
AN - SCOPUS:84874410389
SN - 9781467321686
T3 - CCE 2012 - 2012 9th International Conference on Electrical Engineering, Computing Science and Automatic Control
BT - CCE 2012 - 2012 9th International Conference on Electrical Engineering, Computing Science and Automatic Control
T2 - 2012 9th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2012
Y2 - 26 September 2012 through 28 September 2012
ER -