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A simple model matching for the stabilization of an inverted pendulum cart system
Author(s) -
AguilarIbañez Carlos Fernando,
Frias Oscar Octavio Gutiérrez
Publication year - 2008
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1254
Subject(s) - inverted pendulum , control theory (sociology) , matching (statistics) , controller (irrigation) , simple (philosophy) , nonlinear system , stability (learning theory) , mathematics , plane (geometry) , kapitza's pendulum , cart , domain (mathematical analysis) , double inverted pendulum , stability theory , computer science , double pendulum , control (management) , engineering , physics , mathematical analysis , artificial intelligence , geometry , philosophy , biology , epistemology , quantum mechanics , machine learning , agronomy , mechanical engineering , statistics
We present a simple model matching controller for the stabilization of the inverted pendulum cart system, assuming that the pendulum is initialized above the horizontal plane. The control strategy consists of forcing the closed‐loop system to behave as another nonlinear target system with some stability properties. To this end, we solve two matching conditions that allow us to shape a suitable target system. Having satisfied both matching conditions, the stabilizing controller is directly obtained from the proposed target system. The obtained close‐loop system is locally asymptotically exponentially stable, with a very large domain of attraction. Copyright © 2007 John Wiley & Sons, Ltd.