Number of the records: 1
Rotary inverted pendulum: Trajectory tracking via nonlinear control techniques
- 1.0410821 - UTIA-B 20020035 RIV CZ eng J - Journal Article
Ramos-Velasco, Luis Enrique - Ruiz-León, J. J. - Čelikovský, Sergej
Rotary inverted pendulum: Trajectory tracking via nonlinear control techniques.
Kybernetika. Roč. 38, č. 2 (2002), s. 217-232. ISSN 0023-5954
R&D Projects: GA ČR GA102/02/0709
Grant - others:CONACYT(MX) 31844-A
Institutional research plan: CEZ:AV0Z1075907
Keywords : nonlinear systems * rotary inverted pendulum * output regulation * sliding modes
Subject RIV: BC - Control Systems Theory
Impact factor: 0.341, year: 2002
The nonlinear control techniques are applied to the model of rotary inverted pendulum. The goal is to control output trajectoty of the rotary inverted pendulum asymptotically along a desired reference. Moreover, the designed controller should be robust with respect to specified perturbations and parameters uncertainties. A combination of techniques based on nonlinear normal form, output regulation and sliding mode approach is used here.
Permanent Link: http://hdl.handle.net/11104/0130908
Number of the records: 1