Design of nonlinear controller for bi-axial inverted pendulum system
博士 === 國立交通大學 === 機械工程系所 === 97 === This study presents the use of static Tustin friction model and a disturbance observer to compensate for frictional force between cart-rail and external disturbance so as to reduce the steady-state error (SSE) of a bi-axial inverted pendulum cart system (IPCS). F...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Others |
| Language: | zh-TW |
| Published: |
2009
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| Online Access: | http://ndltd.ncl.edu.tw/handle/87016415956873924458 |