On passivity based control for partial stabilization of underactuated systems

Proceedings of the IEEE Conference on Decision and Control

Volumn 3, Issue , 2000, Pages 2174-2179

  Shiriaev, A S ^a   Kolesnichenko, O ^a  

^a UNIVERSITY OF SOUTHERN DENMARK   (Denmark)

Author keywords

Partial stabilization; Passivity; The inverted pendulum; The Pendubot; V detectability

Indexed keywords

CLOSED LOOP CONTROL SYSTEMS; CONSTRAINT THEORY; EQUATIONS OF MOTION; FEEDBACK CONTROL; INVERSE PROBLEMS; LAGRANGE MULTIPLIERS; PROBLEM SOLVING;

INVERTED PENDULUM; PARTIAL STABILIZATION; PENDUBOT;

SYSTEM STABILITY;

EID: 0034439191     PISSN: 01912216     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (6)

1. Energy based control of the pendubot
2. On stabilization of rotational modes of an inverted pendulum
3. The notion of V-detectability and stabilization of invariant sets of nonlinear systems
4. On global properties of passivity based control of an inverted pendulum
5. The pendubot: A mechatronic system for control research and education