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

Aguilar-Ibáñez, Carlos; Sira-Ramírez, Hebertt

IMA J. Math. Control Inf. 24, No. 1, 31-45 (2007).

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.

MSC:

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

Keywords:

flatness; high-gain control; generalized proportional integral control; Furuta pendulum system