A. Shiriaev, H. Ludvigsen, O. Egeland, A. Pogromsky
{"title":"On global properties of passivity based control of the inverted pendulum","authors":"A. Shiriaev, H. Ludvigsen, O. Egeland, A. Pogromsky","doi":"10.1109/CDC.1999.831305","DOIUrl":null,"url":null,"abstract":"The problem of stabilization of the inverted pendulum on a cart is considered. The proposed technique is based on the passivity of the inverted pendulum and reflects its global properties. The new feedback regulators provide that any solution of the closed loop system, except for initial conditions lying on some 2-dimensional manifold, will be in any neighbourhood of the unstable equilibrium with zero displacement of the cart.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"67","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CDC.1999.831305","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 67
Abstract
The problem of stabilization of the inverted pendulum on a cart is considered. The proposed technique is based on the passivity of the inverted pendulum and reflects its global properties. The new feedback regulators provide that any solution of the closed loop system, except for initial conditions lying on some 2-dimensional manifold, will be in any neighbourhood of the unstable equilibrium with zero displacement of the cart.
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