Controlling the Strongly Damping Inertia Wheel Pendulum via Nested Saturation Functions
In this paper we solve the stabilization problem of the strongly damping inertia wheel pendulum around its unstable equilibrium. The stabilization is accomplished by using nested saturation functions. The use of nested saturation function is possible because this system can be rewritten approximately as a chain of integrators with and nonlinear perturbation. The proposed control strategy makes the closed-loop system globally asymptotically and locally exponentially stable around the unstable inverted vertical position, even when the physical damping is presented in the model.
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| Main Authors: | , , |
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| Format: | Digital revista |
| Language: | English |
| Published: |
Instituto Politécnico Nacional, Centro de Investigación en Computación
2009
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| Online Access: | http://www.scielo.org.mx/scielo.php?script=sci_arttext&pid=S1405-55462009000200006 |
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| Summary: | In this paper we solve the stabilization problem of the strongly damping inertia wheel pendulum around its unstable equilibrium. The stabilization is accomplished by using nested saturation functions. The use of nested saturation function is possible because this system can be rewritten approximately as a chain of integrators with and nonlinear perturbation. The proposed control strategy makes the closed-loop system globally asymptotically and locally exponentially stable around the unstable inverted vertical position, even when the physical damping is presented in the model. |
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