000111981 001__ 111981
000111981 005__ 20190316234035.0
000111981 0247_ $$2doi$$a10.1016/j.automatica.2008.07.004
000111981 02470 $$2ISI$$a000262873500035
000111981 037__ $$aARTICLE
000111981 245__ $$aGlobal Stabilization of an Inverted Pendulum – Control Strategy and Experimental Verification
000111981 269__ $$a2009
000111981 260__ $$c2009
000111981 336__ $$aJournal Articles
000111981 520__ $$aThe problem of swinging up an inverted pendulum on a cart and controlling it around the upright position has traditionally been treated as two separate problems. This paper proposes a control strategy that is globally asymptotically stable under actuator saturation and, in addition, locally exponentially stable. The proposed methodology, which performs swing up and control simultaneously, uses elements from input-output linearization, energy control, and singular perturbation theory. Experimental results on a laboratory-scale setup are presented to illustrate the approach and its implementation.
000111981 6531_ $$aNonlinear Systems
000111981 6531_ $$aStabilization
000111981 6531_ $$aFeedback Linearization
000111981 6531_ $$aEnergy Control
000111981 6531_ $$aSingular Perturbation.
000111981 700__ $$0240471$$g106464$$aSrinivasan, B.
000111981 700__ $$aHuguenin, P.
000111981 700__ $$aBonvin, D.$$g104596$$0240449
000111981 773__ $$j45$$tAutomatica$$k1$$q265-269
000111981 8564_ $$zURL
000111981 8564_ $$uhttps://infoscience.epfl.ch/record/111981/files/Automatica_7149.pdf$$zn/a$$s162228
000111981 909C0 $$0252053$$pLA
000111981 909CO $$particle$$ooai:infoscience.tind.io:111981$$qGLOBAL_SET$$pSTI
000111981 937__ $$aLA-ARTICLE-2007-042
000111981 973__ $$rREVIEWED$$sPUBLISHED$$aEPFL
000111981 980__ $$aARTICLE