On the generation and solution of the symbolic, open-loop characteristic equation for a double inverted pendulum
作者:
P. J. LARCOMBE,
期刊:
International Journal of Systems Science
(Taylor Available online 1993)
卷期:
Volume 24,
issue 12
页码: 2379-2390
ISSN:0020-7721
年代: 1993
DOI:10.1080/00207729308949635
出版商: Taylor & Francis Group
数据来源: Taylor
摘要:
Symbolic algebra manipulation is applied computationally to the mechanical system described by the inverted pendulum of two links, to yield analytic roots of the open-loop characteristic equation obtained from the linearized, symbolic dynamic equations of motion of the system. Detailed analysis of the characteristic polynomial form is presented, together with conditions relating polynomial root properties to physical parameter inequalities. Finally, features of the theoretical form of the characteristic polynomial for the generaln-link system are proposed, by simple explication of results provided by this low order system, and also those existing for the corresponding single-link case which may be obtained and checked directly.
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