Abstract
This paper presents the combination of the following two methods to stabilize and to attenuate the disturbances of a rotatory inverted pendulum: 1) The disturbance is rejected using the structure at infinity method if there exist a control function such that, the transfer function of the outputs and the disturbances is null, forcing the system to have a behavior free of disturbances. 2) It is guaranteed that the controlled system is stable by equating the polynomial of the controlled system and a desired stable polynomial, forcing the system to follow a stable behavior.
Original language | Spanish |
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Pages (from-to) | 107-112 |
Number of pages | 6 |
Journal | Revista Mexicana de Fisica E |
Volume | 58 |
Issue number | 2 |
State | Published - Dec 2012 |