Stability Analysis of Simplex Architecture Controlled Inverted Pendulum
نویسنده
چکیده
Switched controllers are being used frequently for control of complex systems. However, they introduce new challenges for verification of stability, of which a great deal of work in the hybrid systems domain has been formalizing recently. This work is a stability case study of the classical inverted pendulum, in this case controlled using the Simplex architecture of [1], combining to form a complete system as in [2]. The main result shown uses small-gain theorems to prove the stability of the system with regards to measurement delays.
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