Control of the constrained planar simple inverted pendulum
Control of a constrained planar inverted pendulum by eigenstructure assignment is considered. Linear feedback is used to stabilize and decouple the system in such a way that specified subspaces of the state space are invariant for the closed-loop system. The effectiveness of the feedback law is test...
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| Veröffentlicht in: | International journal of control 1983-04, Vol.37 (4), p.741-753 |
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| Hauptverfasser: | , , |
| Format: | Artikel |
| Sprache: | eng |
| Online-Zugang: | Volltext |
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| Zusammenfassung: | Control of a constrained planar inverted pendulum by eigenstructure assignment is considered. Linear feedback is used to stabilize and decouple the system in such a way that specified subspaces of the state space are invariant for the closed-loop system. The effectiveness of the feedback law is tested by digital computer simulation. Pre-compensation by an inverse plant is used to improve performance. |
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| ISSN: | 0020-7179 1366-5820 |
| DOI: | 10.1080/00207178308933006 |