| contributor author | M. J. Anderson | |
| contributor author | W. J. Grantham | |
| date accessioned | 2017-05-08T23:29:28Z | |
| date available | 2017-05-08T23:29:28Z | |
| date copyright | December, 1989 | |
| date issued | 1989 | |
| identifier issn | 0022-0434 | |
| identifier other | JDSMAA-26118#554_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/105108 | |
| description abstract | Lyapunov optimal feedback control is applied to a nonlinear inverted pendulum in which the control torque was constrained to be less than the nonlinear gravity torque in the model. This necessitates a control algorithm which “rocks” the pendulum out of its potential wells, in order to stabilize it at a unique vertical position. Simulation results indicate that a preliminary Lyapunov feedback controller can successfully overcome the nonlinearity and bring almost all trajectories to the target. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Lyapunov Optimal Feedback Control of a Nonlinear Inverted Pendulum | |
| type | Journal Paper | |
| journal volume | 111 | |
| journal issue | 4 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.3153091 | |
| journal fristpage | 554 | |
| journal lastpage | 558 | |
| identifier eissn | 1528-9028 | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;1989:;volume( 111 ):;issue: 004 | |
| contenttype | Fulltext | |