A Flatness-Based Controller for the Stabilization of the Inverted Pendulum
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 non...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2011-01-01
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| Series: | Mathematical Problems in Engineering |
| Online Access: | http://dx.doi.org/10.1155/2011/659685 |