Generalized Nonlinear Model of Inverted Pendulum
نویسندگان
چکیده
Linearization of control model of inclined inverted pendulum (IP) is the main focus of this paper. The areas of application and associated reliability issues of IP are increasingly important in control engineering. A generalized control model, which can facilitate the understanding of system dynamics of an IP irrespective of the plane it is orientated compared to the plane of the control input is developed. There is a high degree of complexity associated with the generation of state variable representation from the nonlinear control model. Therefore, we also focus on the linearization of the nonlinear control model of an inclined IP since it provides the basis for state variable representation of the system. Moreover, it provides for a natural implicit knowledge representation. Keywords—Nonlinear control model, linearization, inclined inverted pendulum, state variable, system matrix
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