Control of the constrained planar simple inverted pendulum†
- 1 April 1983
- journal article
- research article
- Published by Taylor & Francis in International Journal of Control
- Vol. 37 (4) , 741-753
- https://doi.org/10.1080/00207178308933006
Abstract
Control of a constrained planar inverted pendulum by eigenstructure assignment is considered. Linear feedback is used to stabilize and decouple the system in such a way that specified subspaces of the state space are invariant for the closed-loop system. The effectiveness of the feedback law is tested by digital computer simulation. Pre-compensation by an inverse plant is used to improve performance.Keywords
This publication has 4 references indexed in Scilit:
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- Linear Multivariable Control: a Geometric ApproachPublished by Springer Nature ,1979
- The inverted pendulum and biped stabilityMathematical Biosciences, 1977
- On the flexibility offered by state feedback in multivariable systems beyond closed loop eigenvalue assignmentIEEE Transactions on Automatic Control, 1976