A Nonlinear Observer for the Inverted Pendulum

نویسنده

  • J. Eker
چکیده

This paper deals with the design of a nonlinear observer for the inverted pendulum. The observer uses the standard structure of the linear observer with the linear model replaced by a nonlinear model. Nominal observer gains are determined from a linearized model. This model is also used to find a compromise between robustness and performance. The stability of the observer is then discussed and conditions for the stability of the observer are given. The results are illustrated by simulation and experiments on a real pendulum.

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تاریخ انتشار 1996