Passivity Based Control of the Double Inverted Pendulum Driven by a Linear Induction Motor
نویسنده
چکیده
In this paper, we will propose a nonlinear passivity based controller fur a double inverted pendulum system, consisting of a two-link pendulum mounted on a pad which is moved by a linear induction motor so that the double pendulum points straight-up The proposed controller nut only can drive the double pendulum from its “natural stable hanging position” tu its “unstable upright inverted position” while linear the induction motor’s displacement is brought to zero but also can guarantee that the motor with very unique end-effect can achieve servo motion tracking with high performance. Also, computer simulations are .provided tu demonstrate the effectiveness of .the hereby presented controller design. I n d u TermsDouble Inverted Pendulum, Underactuated Mechanical System, Linear Induction Motor, Passivity Based Control, Adaptive Backstepping Control
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