A linear differential flatness approach to controlling the Furuta pendulum. (English) Zbl 1137.93029

Summary: The aim of this work is to motivate the use of linear flatness, or controllability, to design a feedback control law for the rather challenging mechanism known as the ‘Furuta pendulum’. This is achieved by introducing three feedback controller design options for the stabilization and rest-to-rest trajectory tracking tasks: a direct pole placement approach, a hierarchical high-gain approach and a generalized proportional integral approach synthesized on the basis of measured inputs and outputs.


93B52 Feedback control
93B05 Controllability
93B51 Design techniques (robust design, computer-aided design, etc.)
93B55 Pole and zero placement problems
70K40 Forced motions for nonlinear problems in mechanics
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