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Stabilizing control for a single pendulum by moving the center of gravity. An investigation by numerical experiment

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3 Author(s)
Yoshida, K. ; Fac. of Eng., Hiroshima Inst. of Technol., Japan ; Kawabe, H. ; Kawanishi, K.

For a single pendulum having controllable rod length, a variable structure system, a stabilizing control law that damps the swing has been developed using Lyapunov's method. In deriving the law, the nonlinearities of the system are considered outright. The control system has a structure where the rod length is changed according to θ and θ˙ (θ represents the rod angle) and uses the Coriolis force favorably

Published in:

Decision and Control, 1996., Proceedings of the 35th IEEE Conference on  (Volume:1 )

Date of Conference:

11-13 Dec 1996