76 Scopus citations

Abstract

A nonlinear control force is presented to stabilize the under-actuated inverted pendulum mounted on a cart. The control strategy is based on partial feedback linearization, in a first stage, to linearize only the actuated coordinate of the inverted pendulum, and then, a suitable Lyapunov function is formed to obtain a stabilizing feedback controller. The obtained closed-loop system is locally asymptotically stable around its unstable equilibrium point. Additionally, it has a very large attraction domain.

Original languageEnglish
Pages (from-to)367-374
Number of pages8
JournalNonlinear Dynamics
Volume40
Issue number4
DOIs
StatePublished - Jun 2005

Keywords

  • Lyapunov-based control
  • Nonlinear systems
  • Under-actuated system

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