Discrete computer control of a triple‐inverted pendulum

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Abstract
Stabilization of a triple‐inverted pendulum is studied in this paper. The overall control structure is based on a state space approach and employs the computer‐aided design package ‘KEDDC’. The complete set of state variables needed for state feedback are provided by a reduced‐order observer. Theoretical analysis, supported by successful experimental results, shows that our stabilization objective can be achieved by measuring the angles of the three arms of the pendulum as well as the position and velocity of the supporting cart.

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