TY - GEN
T1 - Stabilization of the strongly damping inertia wheel pendulum by a nested saturation functions
AU - Aguilar-Ibañez, Carlos F.
AU - Gutiérrez F, Oscar O.
AU - Suárez Castanón, Miguel S.
PY - 2008
Y1 - 2008
N2 - The stabilization of the strongly damping inertia wheel pendulum around its unstable equilibrium point is presented in this paper. The fact that this system can be rewritten approximately as a chain of integrators with and nonlinear perturbation suggests the use of a nested saturation based controller for making all state variables converge to zero. The proposed control strategy makes the closed-loop system globally asymptotically and locally exponentially stable around the unstable inverted vertical position, even when the physical damping is presented in the model.
AB - The stabilization of the strongly damping inertia wheel pendulum around its unstable equilibrium point is presented in this paper. The fact that this system can be rewritten approximately as a chain of integrators with and nonlinear perturbation suggests the use of a nested saturation based controller for making all state variables converge to zero. The proposed control strategy makes the closed-loop system globally asymptotically and locally exponentially stable around the unstable inverted vertical position, even when the physical damping is presented in the model.
UR - http://www.scopus.com/inward/record.url?scp=52449131363&partnerID=8YFLogxK
U2 - 10.1109/ACC.2008.4587024
DO - 10.1109/ACC.2008.4587024
M3 - Contribución a la conferencia
AN - SCOPUS:52449131363
SN - 9781424420797
T3 - Proceedings of the American Control Conference
SP - 3434
EP - 3439
BT - 2008 American Control Conference, ACC
T2 - 2008 American Control Conference, ACC
Y2 - 11 June 2008 through 13 June 2008
ER -