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On global properties of passivity-based control of an inverted pendulum. (English) Zbl 0952.93512


MSC:

93D15 Stabilization of systems by feedback
93C95 Application models in control theory
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References:

[1] Linear Optimal Control Systems. Wiley: New York, 1972.
[2] Wei, Automatica 31 pp 841– (1995)
[3] Chung, Automatica 31 pp 851– (1995)
[4] Swinging up a pendulum by energy control. Proceedings of the 13th IFAC World Congress, vol. E, San Francisco, 1996; 37-42.
[5] Fradkov, International Journal of Control 64 pp 1189– (1996)
[6] Lin, Automatica 32 pp 933– (1996)
[7] Control of underactuated mechanical systems using switching and saturation. Lecture Notes in Control and Information Sciences, vol. 222, Springer: Berlin, 1997; 162-172. · Zbl 0879.93035
[8] Passivity based control of the inverted pendulum. Proceedings of the 4th IFAC Symposium on Nonlinear Control Systems Design, vol. 1, Enschede, The Netherlands, July 1998; 145-150.
[9] Passivity-based control of Euler-Lagrange Systems: Mechanical, Electrical and Electromechanical Applications, Communications and Control Engg. Series. Springer: Berlin, 1998.
[10] The notion of V-detectability and stabilization of invariant sets of nonlinear systems. Proceedings of the 37th CDC, Tampa, 1998; 2509-2514.
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