TY - JOUR
T1 - A simple model matching for the stabilization of an inverted pendulum cart system
AU - Aguilar-Ibañez, Carlos Fernando
AU - Frias, Oscar Octavio Gutiérrez
PY - 2008/4
Y1 - 2008/4
N2 - We present a simple model matching controller for the stabilization of the inverted pendulum cart system, assuming that the pendulum is initialized above the horizontal plane. The control strategy consists of 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. Having satisfied both matching conditions, the stabilizing controller is directly obtained from the proposed target system. The obtained close-loop system is locally asymptotically exponentially stable, with a very large domain of attraction.
AB - We present a simple model matching controller for the stabilization of the inverted pendulum cart system, assuming that the pendulum is initialized above the horizontal plane. The control strategy consists of 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. Having satisfied both matching conditions, the stabilizing controller is directly obtained from the proposed target system. The obtained close-loop system is locally asymptotically exponentially stable, with a very large domain of attraction.
KW - Control Lagrange
KW - Euler-Lagrange system
KW - Lyapunov method
KW - Underactuated system
UR - http://www.scopus.com/inward/record.url?scp=41849099633&partnerID=8YFLogxK
U2 - 10.1002/rnc.1254
DO - 10.1002/rnc.1254
M3 - Artículo
SN - 1049-8923
VL - 18
SP - 688
EP - 699
JO - International Journal of Robust and Nonlinear Control
JF - International Journal of Robust and Nonlinear Control
IS - 6
ER -