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Stabilization of the inverted pendulum around its homoclinic orbit |
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| Authors: | Rogelio Lozano Isabelle Fantoni Dan J. Block |
| Affiliation: | a Heudiasyc Centre de Recherches de Royallieu, Univ. de Technologie de Compiègne, UMR-CNRS 6599, BP 20529, 60205 Compiègne, France;b College of Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA |
| Abstract: | The inverted pendulum has been used as a benchmark for motivating the study of nonlinear control techniques. We propose a simple controller for balancing the inverted pendulum and raise it to its upper equilibrium position while the cart displacement is brought to zero. The control strategy is based on an energy approach of the cart and pendulum system. |
| Keywords: | Nonlinear systems Passivity Inverted pendulum Lyapunov functions |
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