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Series expression of the system for linear approximation based on relative degree structure stabilization of the cart pendulum system

机译：基于购物车摆系统的相对度结构稳定的线性近似系列表达式

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In this paper, the problem of the stabilization of an inverted pendulum on a cart is discussed by using modified approximate linearizing method. The main result is to propose the modification of the linear approximation using a new expression of the system. This modification has two steps. The first step involves defining the series expression of the system via the relative degree structure of the system. The series expression is one of the system expressions which makes the inherent linearity of the system explicit. In the second step, the series expression is modified to reduce the affection of nonlinear part ignored in linear approximation. The procedures of the modification are demonstrated via the problem of stabilization of an inverted pendulum on a cart.
机译：在本文中，通过使用修改的近似线性化方法讨论了推车上倒置摆在推车上的问题。主要结果是建议使用系统的新表达式修改线性近似。此修改有两个步骤。第一步涉及通过系统的相对度结构定义系统的串联表达。系列表达式是系统表达式之一，它使系统的固有线性显式。在第二步中，修改串联表达以减少线性近似下忽略非线性部分的影响。通过在推车上稳定倒置摆的问题来证明修改的程序。

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