Strong Structural Controllability and the Multilink Inverted Pendulum

This technical note investigates the controllability of the linearized dynamics of the multilink inverted pendulum as the number of links and the number and location of actuators changes. It is demonstrated that, in some instances, there exist sets of parameter values that render the system uncontro...

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Veröffentlicht in:	IEEE transactions on automatic control 2012-11, Vol.57 (11), p.2891-2896
Hauptverfasser:	Bowden, C., Holderbaum, W., Becerra, V. M.
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuators Applied sciences Automatic control Computer science control theory systems Control system analysis Control theory. Systems Controllability Dynamic tests Dynamical systems Dynamics Equations Exact sciences and technology Fundamental areas of phenomenology (including applications) graph theory inverted pendulum Joints linear systems Links Manganese Pendulums Physics Solid dynamics (ballistics, collision, multibody system, stabilization...) Solid mechanics strong structural controllability Vectors
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