A new swing-up law for the Furuta pendulum |
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| Authors: | F. Gordillo J. A. Acosta J. Aracil |
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| Affiliation: | Departamento de Ingeniería de Sistemas y Automática , Universidad de Sevilla , Camino de los Descubrimientos s/n, Sevilla, 41092, Spain |
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| Abstract: | In this paper the swing-up problem for the Furuta pendulum is solved applying Fradkov's speed-gradient (SG) method to a dimension 4 model of the system. The new law is compared with the conventional Åström-Furuta strategy, based on a dimension 2 model. A comparative analysis, including simulations and experiments, whereby the advantages and effectiveness of the new law for swinging the pendulum up are shown, is included. |
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