Abstract
This contribution deals with the application of energy based
control methods for the inverted pendulum on a cart model.
We will present a swing up controller as well as a nonlinear
balancing controller, where we focus on the real world implementation.
Therefore we recapitulate well known control
concepts from the literature which we will slightly modify
such that they work on a concrete experiment with all the
undesirable effects like friction and quantisation.
| Original language | English |
|---|---|
| Title of host publication | 5th International Conference on Computational Intelligence, Robotics and Autonomous Systems, CIRAS 2008 |
| Pages | 187-192 |
| Number of pages | 6 |
| Publication status | Published - Jun 2008 |
Fields of science
- 101028 Mathematical modelling
- 202 Electrical Engineering, Electronics, Information Engineering
- 202003 Automation
- 202017 Embedded systems
- 202027 Mechatronics
- 202034 Control engineering
- 203015 Mechatronics