Digital control of a double inverted pendulum on an inclined rail
作者:
KATSUHISA FURUTA,
HIROYUKI KAJIWARA,
KAZUHIRO KOSUGE,
期刊:
International Journal of Control
(Taylor Available online 1980)
卷期:
Volume 32,
issue 5
页码: 907-924
ISSN:0020-7179
年代: 1980
DOI:10.1080/00207178008922898
出版商: Taylor & Francis Group
数据来源: Taylor
摘要:
A digital control system to control a double inverted pendulum on a cart is presented, where the cart is placed on an inclined rail and is to be kept in position at a given reference point. The controller design is based on linear servo control theory and can control the cart position of the inverted pendulum, eliminating the effect of the rail incline. Theoretical analyses of the pendulum and of the control system are given.
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