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On the Dynamics of the Furuta Pendulum
Joint Authors
Cazzolato, Benjamin Seth
Prime, Zebb
Source
Journal of Control Science and Engineering
Issue
Vol. 2011, Issue 2011 (31 Dec. 2011), pp.1-8, 8 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2011-04-13
Country of Publication
Egypt
No. of Pages
8
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
The Furuta pendulum, or rotational inverted pendulum, is a system found in many control labs.
It provides a compact yet impressive platform for control demonstrations and draws the attention of the control community as a platform for the development of nonlinear control laws.
Despite the popularity of the platform, there are very few papers which employ the correct dynamics and only one that derives the full system dynamics.
In this paper, the full dynamics of the Furuta pendulum are derived using two methods: a Lagrangian formulation and an iterative Newton-Euler formulation.
Approximations are made to the full dynamics which converge to the more commonly presented expressions.
The system dynamics are then linearised using a Jacobian.
To illustrate the influence the commonly neglected inertia terms have on the system dynamics, a brief example is offered.
American Psychological Association (APA)
Cazzolato, Benjamin Seth& Prime, Zebb. 2011. On the Dynamics of the Furuta Pendulum. Journal of Control Science and Engineering،Vol. 2011, no. 2011, pp.1-8.
https://search.emarefa.net/detail/BIM-478879
Modern Language Association (MLA)
Cazzolato, Benjamin Seth& Prime, Zebb. On the Dynamics of the Furuta Pendulum. Journal of Control Science and Engineering No. 2011 (2011), pp.1-8.
https://search.emarefa.net/detail/BIM-478879
American Medical Association (AMA)
Cazzolato, Benjamin Seth& Prime, Zebb. On the Dynamics of the Furuta Pendulum. Journal of Control Science and Engineering. 2011. Vol. 2011, no. 2011, pp.1-8.
https://search.emarefa.net/detail/BIM-478879
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-478879