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A Flatness-Based Controller for the Stabilization of the Inverted Pendulum
Joint Authors
Sira-Ramírez, Hebertt
Suárez-Castañón, Miguel S.
Aguilar-Ibáñez, Carlos Fernando
Source
Mathematical Problems in Engineering
Issue
Vol. 2011, Issue 2011 (31 Dec. 2011), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2011-03-06
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
We propose a flatness based approach for controlling the inverted pendulum cart system, under the assumption that the pendulum state is always located on a vicinity of its unstable equilibrium point.
This is achieved by representing the original system, as a chain of integrators with an additive nonlinear state dependent perturbation.
After discarding the small nonlinear perturbation, we may directly use design tools provided by the the flatness approach.
The effectiveness and robustness of the obtained control law, which turned out to have a large domain of attraction, were numerically assessed in the context of stabilization and, also, for a reference oscillatory trajectory tracking task.
American Psychological Association (APA)
Aguilar-Ibáñez, Carlos Fernando& Sira-Ramírez, Hebertt& Suárez-Castañón, Miguel S.. 2011. A Flatness-Based Controller for the Stabilization of the Inverted Pendulum. Mathematical Problems in Engineering،Vol. 2011, no. 2011, pp.1-11.
https://search.emarefa.net/detail/BIM-489042
Modern Language Association (MLA)
Aguilar-Ibáñez, Carlos Fernando…[et al.]. A Flatness-Based Controller for the Stabilization of the Inverted Pendulum. Mathematical Problems in Engineering No. 2011 (2011), pp.1-11.
https://search.emarefa.net/detail/BIM-489042
American Medical Association (AMA)
Aguilar-Ibáñez, Carlos Fernando& Sira-Ramírez, Hebertt& Suárez-Castañón, Miguel S.. A Flatness-Based Controller for the Stabilization of the Inverted Pendulum. Mathematical Problems in Engineering. 2011. Vol. 2011, no. 2011, pp.1-11.
https://search.emarefa.net/detail/BIM-489042
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-489042