Journal Article

A linear differential flatness approach to controlling the Furuta pendulum

Carlos Aguilar-Ibáñez and Hebertt Sira-Ramírez

in IMA Journal of Mathematical Control and Information

Published on behalf of Institute of Mathematics and its Applications

Volume 24, issue 1, pages 31-45
Published in print March 2007 | ISSN: 0265-0754
Published online March 2007 | e-ISSN: 1471-6887 | DOI: http://dx.doi.org/10.1093/imamci/dnl005
A linear differential flatness approach to controlling the Furuta pendulum

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The aim of this work is to motivate the use of linear flatness, or controllability, to design a feedback control law for the rather challenging mechanism known as the ‘Furuta pendulum’. This is achieved by introducing three feedback controller design options for the stabilization and rest-to-rest trajectory tracking tasks: a direct pole placement approach, a hierarchical high-gain approach and a generalized proportional integral approach synthesized on the basis of measured inputs and outputs.

Keywords: flatness; high-gain control; generalized proportional integral control; Furuta pendulum system

Journal Article.  0 words. 

Subjects: Mathematics

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