Linear controller for an inverted pendulum having restricted travel: A high-and-low gain approach

Automatica

Volumn 32, Issue 6, 1996, Pages 933-937

  Lin, Zongli ^a   Saberi, Ali ^b   Gutmann, Michael ^b   Shamash, Yacov A ^c  

^a STONY BROOK UNIVERSITY   (United States)

^b Washington State University   (United States)

^c NONE

Author keywords

High and low gain feedback; Inverted pendulum; Singular perturbation

Indexed keywords

CONSTRAINT THEORY; CONTROL EQUIPMENT; CONTROL SYSTEM ANALYSIS; FEEDBACK; GAIN CONTROL; PENDULUMS; PERTURBATION TECHNIQUES; ROBUSTNESS (CONTROL SYSTEMS); STATE SPACE METHODS;

FEEDBACK GAIN; INVERTED PENDULUM; LINEAR CONTROLLER; MULTIPLYING FACTOR; RESTRICTED TRAVEL;

LINEAR CONTROL SYSTEMS;

EID: 0030163955     PISSN: 00051098     EISSN: None     Source Type: Journal    
DOI: 10.1016/0005-1098(96)00006-4     Document Type: Article

References (4)

1. Kwakernaak, H. and Sivan, R. (1972). Linear Optimal Control Systems. Wiley, New York.
2. Lin, Z. (1994). Global and semi-global control problems for linear systems subject to input saturation and minimum-phase input-output linearizable systems. PhD dissertation, Washington State University.
3. Lin, Z. and Saberi, A. (1995). Robust semi-global stabilization of minimum-phase input-output linearizable systems via partial state and output feedback. IEEE Trans. Autom. Control, AC-40, 1029-1041.
4. Wei, Q. F., Dayawansa, W. P. and Levine, W. S. (1995). Nonlinear controller for an inverted pendulum having restricted travel, Automatica, 31, 841-850.