Non-linear Control of Inverted Pendulum
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Tarih
2020
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Erişim Hakkı
info:eu-repo/semantics/openAccess
Özet
Presented is a study of non-linear control for an inverted pendulum system. The inverted pendulumsystem is a great example of an underactuated, non-minimum phase, and highly unstable system. Theobjective of this research paper is to derive non-linear control laws for an inverted pendulum system.First, dynamic equations of the inverted pendulum are derived by utilizing the Lagrange's equations andthen it is linearized around an unstable upright position. Secondly, the corresponding analysis uses thestandard linear stability arguments and the traditional Lyapunov method. The non-linear sliding modecontrol and feedback linearization control laws are then derived The feedback linearization control law isused to transform the non-linear system into an equivalent linear system such that a suitable feedbackcontrol law can be proposed. The stabilization of the initial condition and reference tracking is studied inthis paper. I demonstrate the effectiveness of the proposed non-linear control strategies usingMATLAB/Simulink software
Açıklama
Anahtar Kelimeler
Fizik, Uygulamalı
Kaynak
Çukurova Üniversitesi Mühendislik-Mimarlik Fakültesi Dergisi
WoS Q Değeri
Scopus Q Değeri
Cilt
35
Sayı
1
