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Digital balancing of systems with backlash

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3 Author(s)
Kollar, L.E. ; Dept. of Math. Sci., Texas Univ., Dallas, TX, USA ; Stepan, G. ; Turi, J.

In the paper the dynamics of an inverted pendulum on a cart is investigated assuming backlash and time delays. The upper equilibrium of the pendulum is stabilized by control force which is provided by a motor driving the wheels of the cart through an elastic teeth belt. The contact between the teeth of the gear (rigid) and the belt (elastic) introduces a nonlinearity known as "backlash" and causes the oscillation of the controlled pendulum around its upper equilibrium.

Published in:

Decision and Control, 2002, Proceedings of the 41st IEEE Conference on  (Volume:3 )

Date of Conference:

10-13 Dec. 2002

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