作者
Carlos Aguilar-Ibanez
发表日期
2008/6/11
研讨会论文
2008 American Control Conference
页码范围
5145-5149
出版商
IEEE
简介
A constructive control strategy is presented for the stabilization of the inverted pendulum system. Under the assumption that the pendulum is initialized above the upper half plane. To carried out, a suitable procedure is presented in order to find a candidate Lyapunov function, for the whole system. Then the control is proposed directly from the obtained Lyapunov, in such a way, that its time derivative be semi-definite negative with respect to a convenient manifold. Finally, the asymptotically stability of the closed-loop system is concluded by LaSalle theorem.
学术搜索中的文章
C Aguilar-Ibanez - 2008 American Control Conference, 2008