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dc.contributor.author | Gutiérrez Frías, O. Octavio | es_ES |
dc.date.accessioned | 2020-05-22T08:38:52Z | |
dc.date.available | 2020-05-22T08:38:52Z | |
dc.date.issued | 2013-01-13 | |
dc.identifier.issn | 1697-7912 | |
dc.identifier.uri | http://hdl.handle.net/10251/144126 | |
dc.description.abstract | [ES] En este trabajo, se presenta un controlador no lineal para estabilizar el sistema Péndulo Invertido Sobre Dos Ruedas. Como primera etapa la estrategia de control, se basa en una linealización parcial por realimentación, para posteriormente proponer una función candidata de Lyapunov en combinación con el principio de invariancia de LaSalle con el fin de obtener el controlador esta- bilizador. El sistema en lazo cerrado obtenido es asintóticamente estable localmente alrededor del punto de equilibrio inestable, con un dominio de atracción calculable. | es_ES |
dc.description.abstract | [EN] In this paper, a nonlinear controller is presented for the stabilization of the two wheels inverted pendulum. The control strategy is based on partial feedback linealization, in first stage and then a suitable function Lyapunov in conjunction with LaSalle's invariance principle is formed to obtain a stabilizing feedback controller. The obtained closed-loop system is locally asymptotically stable around its unstable equilibrium point, with a computable domain of attraction. | es_ES |
dc.description.sponsorship | Este trabajo es financiado por la Secretaria de Investigación y Posgrado del Instituto Politécnico Nacional (SIP-IPN), con numero de registro 20111168 y 20120614 | es_ES |
dc.language | Español | es_ES |
dc.publisher | Universitat Politècnica de València | es_ES |
dc.relation.ispartof | Revista Iberoamericana de Automática e Informática industrial | es_ES |
dc.rights | Reconocimiento - No comercial - Sin obra derivada (by-nc-nd) | es_ES |
dc.subject | Under Actuated System | es_ES |
dc.subject | Two Wheels Inverted Pendulum | es_ES |
dc.subject | Lyapunov Approach | es_ES |
dc.subject | Non-Linear Control | es_ES |
dc.subject | Sistema Subactuado | es_ES |
dc.subject | Péndulo Invertido Sobre Dos Ruedas | es_ES |
dc.subject | Método de Lyapunov | es_ES |
dc.subject | Control No Lineal | es_ES |
dc.title | Estabilización del Péndulo Invertido Sobre Dos Ruedas mediante el método de Lyapunov | es_ES |
dc.title.alternative | Stabilization of the Two Wheels Inverted Pendulum by means Lyapunov approach | es_ES |
dc.type | Artículo | es_ES |
dc.identifier.doi | 10.1016/j.riai.2012.11.003 | |
dc.relation.projectID | info:eu-repo/grantAgreement/IPN//20111168/ | es_ES |
dc.relation.projectID | info:eu-repo/grantAgreement/IPN//20120614/ | es_ES |
dc.rights.accessRights | Abierto | es_ES |
dc.description.bibliographicCitation | Gutiérrez Frías, OO. (2013). Estabilización del Péndulo Invertido Sobre Dos Ruedas mediante el método de Lyapunov. Revista Iberoamericana de Automática e Informática industrial. 10(1):30-36. https://doi.org/10.1016/j.riai.2012.11.003 | es_ES |
dc.description.accrualMethod | OJS | es_ES |
dc.relation.publisherversion | https://doi.org/10.1016/j.riai.2012.11.003 | es_ES |
dc.description.upvformatpinicio | 30 | es_ES |
dc.description.upvformatpfin | 36 | es_ES |
dc.type.version | info:eu-repo/semantics/publishedVersion | es_ES |
dc.description.volume | 10 | es_ES |
dc.description.issue | 1 | es_ES |
dc.identifier.eissn | 1697-7920 | |
dc.relation.pasarela | OJS\9555 | es_ES |
dc.contributor.funder | Instituto Politécnico Nacional, México | es_ES |
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