Stochastic Properties of an Inverted Pendulum on a Wheel on a Soft Surface

نویسندگان

چکیده

We study dynamics of the inverted pendulum on wheel a soft surface and under proportional-integral-derivative controller. The behaviour such is modelled by system with differential inclusion. If has sensor for rotational velocity pendulum, tilt encoder then this observable. using observed data controller brings stochastic perturbations into system. properties inclusion control studied upper position pendulum. formula time, which spends near position, derived.

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ژورنال

عنوان ژورنال: Springer proceedings in complexity

سال: 2021

ISSN: ['2213-8684', '2213-8692']

DOI: https://doi.org/10.1007/978-3-030-70795-8_28