TY - JOUR
T1 - Control of the Furuta pendulum based on a linear differential flatness aproach
AU - Aguilar-Ibáñez, Carlos
AU - Sira-Ramírez, Hebertt
PY - 2002
Y1 - 2002
N2 - In this article, we present a flatness based control approach for the stabilization and equilibrium-to-equilibrium transfers, via trajectory tracking, of the Furuta pendulum. We introduce three feedback controller design options for the stabilization and rest-to-rest trajectoring problems; a direct pole placement approach, a hierarchical high-gain approach and Generalized Proportional Integral (GPI) approach, based only on measured inputs and outputs.
AB - In this article, we present a flatness based control approach for the stabilization and equilibrium-to-equilibrium transfers, via trajectory tracking, of the Furuta pendulum. We introduce three feedback controller design options for the stabilization and rest-to-rest trajectoring problems; a direct pole placement approach, a hierarchical high-gain approach and Generalized Proportional Integral (GPI) approach, based only on measured inputs and outputs.
KW - Flatness
KW - Furuta pendulum system
KW - Generalized proportional derivative control
KW - High-gain control
UR - http://www.scopus.com/inward/record.url?scp=0036343712&partnerID=8YFLogxK
M3 - Artículo de la conferencia
AN - SCOPUS:0036343712
SN - 0743-1619
VL - 3
SP - 1954
EP - 1959
JO - Proceedings of the American Control Conference
JF - Proceedings of the American Control Conference
T2 - 2002 American Control Conference
Y2 - 8 May 2002 through 10 May 2002
ER -