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Linear control of the flywheel inverted pendulum

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Linear control of the flywheel inverted pendulum

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dc.contributor.author Olivares, Manuel es_ES
dc.contributor.author Albertos Pérez, Pedro es_ES
dc.date.accessioned 2020-04-17T12:52:22Z
dc.date.available 2020-04-17T12:52:22Z
dc.date.issued 2014-09 es_ES
dc.identifier.issn 0019-0578 es_ES
dc.identifier.uri http://hdl.handle.net/10251/140979
dc.description.abstract [EN] The flywheel inverted pendulum is an underactuated mechanical system with a nonlinear model but admitting a linear approximation around the unstable equilibrium point in the upper position. Although underactuated systems usually require nonlinear controllers, the easy tuning and understanding of linear controllers make them more attractive for designers and final users. In a recent paper, a simple PID controller was proposed by the authors, leading to an internally unstable controlled plant. To achieve global stability, two options are developed here: first by introducing an internal stabilizing controller and second by replacing the PID controller by an observer-based state feedback control. Simulation and experimental results show the effectiveness of the design. (C) 2013 ISA. Published by Elsevier Ltd. All rights reserved. es_ES
dc.description.sponsorship The authors want to thank the Universidad Tecnica Federico Santa Maria providing a grant to Professor Albertos as a research visitor. es_ES
dc.language Inglés es_ES
dc.publisher Elsevier es_ES
dc.relation.ispartof ISA Transactions es_ES
dc.rights Reserva de todos los derechos es_ES
dc.subject Inverted pendulum es_ES
dc.subject Underactuated systems es_ES
dc.subject PID control design es_ES
dc.subject Internal instability es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.title Linear control of the flywheel inverted pendulum es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1016/j.isatra.2013.12.030 es_ES
dc.rights.accessRights Cerrado es_ES
dc.description.bibliographicCitation Olivares, M.; Albertos Pérez, P. (2014). Linear control of the flywheel inverted pendulum. ISA Transactions. 53(5):1396-1403. https://doi.org/10.1016/j.isatra.2013.12.030 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion https://doi.org/10.1016/j.isatra.2013.12.030 es_ES
dc.description.upvformatpinicio 1396 es_ES
dc.description.upvformatpfin 1403 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 53 es_ES
dc.description.issue 5 es_ES
dc.relation.pasarela S\320464 es_ES
dc.contributor.funder Universidad Técnica Federico Santa María, Chile


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