The direct Lyapunov method for the stabilisation of the Furuta pendulum |
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| Authors: | Carlos Aguilar-Ibañez Miguel S Suárez-Castañón Oscar O Gutiérres-Frias |
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| Affiliation: | 1. CIC-IPN, Av. Juan de Dios Bátiz s/n Esq. Manuel Othón de M. Unidad Profesional Adolfo López Mateos, Col. Nueva Industrial Vallejo, Del. Gustavo A. Madero , C.P 07738 México D.F., Méxicocaguilar@cic.ipn.mx;3. Escuela Superior de Cómputo – IPN , México D.F., México;4. Centro de Estudios Científicos y Tecnológicos No. 1 – IPN , México D.F., México |
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| Abstract: | A nonlinear controller for the stabilisation of the Furuta pendulum is presented. The control strategy is based on a partial feedback linearisation. In a first stage only the actuated coordinate of the Furuta pendulum is linearised. Then, the stabilising feedback controller is obtained by applying the Lyapunov direct method. That is, using this method we prove local asymptotic stability and demonstrate that the closed-loop system has a large region of attraction. The stability analysis is carried out by means of LaSalle's invariance principle. To assess the controller effectiveness, the results of the corresponding numerical simulations are presented. |
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| Keywords: | Furuta pendulum system Lyapunov direct method nonlinear control |
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