Controller design for an inverted pendulum based on approximate linearization

Sugie T.; Fujimoto K.

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Controller design for an inverted pendulum based on approximate linearization

机译：基于近似线性化的倒立摆控制器设计

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In this paper, taking the inverted pendulum as an example of nonlinear systems which are not exactly linearizable, we give a controller design method for the system based on approximate linerization. In the method, we try to suppress the effect of the higher order residual terms in choosing the new co-ordinate for the approximate linearization. Furthermore, we show its effectiveness by experiments. (C) 1998 John Wiley & Sons, Ltd. [References: 9]

机译：本文以倒立摆为例，说明不能完全线性化的非线性系统，给出了一种基于近似线性化的系统控制器设计方法。在该方法中，我们尝试在选择新的坐标用于近似线性化时抑制高阶残差项的影响。此外，我们通过实验证明了其有效性。（C）1998 John Wiley＆Sons，Ltd. [参考：9]

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《International Journal of Robust and Nonlinear Control》 |1998年第7期|共13页
作者
Sugie T.; Fujimoto K.;
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正文语种 eng
中图分类自动化系统;
关键词
Nonlinear control; Approximate linearization; Inverted pendulum; Geometric approach; Least square technique; Nonlinear control; Systems;

机译：非线性控制;近似线性化;倒立摆;几何方法;最小二乘技术;非线性控制;系统;

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1. Controller design for an inverted pendulum based on approximate linearization [J] . Sugie T., Fujimoto K. International Journal of Robust and Nonlinear Control . 1998,第7期

机译：基于近似线性化的倒立摆控制器设计
2. Stabilizing and Swinging-Up the Inverted Pendulum Using PI and PID Controllers Based on Reduced Linear Quadratic Regulator Tuned by PSO [J] . M. E. Mousa, M. A. Ebrahim, M. A. Moustafa Hassan International Journal of System Dynamics Applications: An official publication of the Information Resources Management Association . 2015,第4期

机译：基于PSO精简线性二次调节器的PI和PID控制器来稳定和摆倒立摆
3. The Controller Design Using Local Stability Analysis on a Nonlinear Inverted Pendulum [J] . Timbang Pangaribuan, Nasruddin MN, Eddy Marlianto, International Journal of Engineering & Technology . 2018,第2期

机译：非线性倒立摆局部稳定性分析的控制器设计
4. Control of inverted pendulum systems based on approximate linearization: design and experiment [C] . Sugie, T., Fujimoto, . 1994

机译：基于近似线性化的倒立摆系统控制：设计与实验
5. Nonlinear control system of inverted pendulum based on input-output linearization. [D] . Maeda, Ken. 2006

机译：基于输入输出线性化的倒立摆非线性控制系统。
6. A New Fuzzy-Evidential Controller for Stabilization of the Planar Inverted Pendulum System [O] . Yongchuan Tang, Deyun Zhou, Wen Jiang 2011

机译：新型稳定平面倒立摆系统的模糊证据控制器
7. Controller Design for an Inverted Pendulum based on Approximate Linearization [O] . Toshiharu Sugie, Kenji Fujimoto 1998

机译：基于近似线性化的倒立摆控制器设计

Controller design for an inverted pendulum based on approximate linearization

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