Global stabilization of an inverted pendulum-control strategy and experimental verification

DOI10.1016/j.automatica.2008.07.004zbMath1154.93419OpenAlexW2066295611MaRDI QIDQ1000827

B. Srinivasan, P. Huguenin, Dominique Bonvin

Publication date: 10 February 2009

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2008.07.004

zbMATH Keywords

singular perturbationstabilizationnonlinear systemsfeedback linearizationenergy control

Mathematics Subject Classification ID

Time-scale analysis and singular perturbations in control/observation systems (93C70) Linearizations (93B18) Asymptotic stability in control theory (93D20) Control of mechanical systems (70Q05)

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Cites Work

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• Swinging up a pendulum by energy control
• A robust hybrid stabilization strategy for equilibria
• Adding integrations, saturated controls, and stabilization for feedforward systems
• Almost global stabilization of the inverted pendulum via continuous state feedback