Systems Variables and Structural Controllability: An Inverted Pendulum Case
نویسنده
چکیده
In order to explore the essence of structural controllability, structural controllability of inverted pendulum is analyzed in this presented study and a sufficient controllability condition of a class of perturbed linear system is obtained, which is essential to prove the structural controllability for the perturbed inverted pendulum. Two different structured models of inverted pendulum are constructed. Structural controllability of both cases are discussed and compared, which shows that the usual model used in controller design for inverted pendulum is just a special case of normal model for inverted pendulum.
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