Cart (Loading....) | Create Account
Close category search window

Real time stabilisation of a triple link inverted pendulum using single control input

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $31
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Eltohamy, K.G. ; Dept. of Mech. & Aerosp. Eng., Arizona State Univ., Tempe, AZ, USA ; Kuo, C.Y.

The causes of failure of stabilising a triple link inverted pendulum using only one control input are investigated and mostly determined. In addition to using computer software in deriving and simulating the dynamics of a triple link inverted pendulum system, experimental observations and measurement improvements play major roles in the iterative control system design process. Stick friction, measurement noise and speed of third link are found to be the most decisive factors in stabilising this system. The experience, learned from earlier experimental success, of stabilising a double link inverted pendulum is used to modify the system's model; this becomes part of a single input state space control law which is capable of stabilising the triple link inverted pendulum system about its upright position. This control input is realised in experiments through the use of a DC motor driven by a microcomputer

Published in:

Control Theory and Applications, IEE Proceedings -  (Volume:144 ,  Issue: 5 )

Date of Publication:

Sep 1997

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.