On the Inverted Pendulum on a Cart Moving along an Arbitrary Path
نویسندگان
چکیده
This article discusses a problem of stabilization for an inverted pendulum on a cart. In this work the cart does not travel along an horizontal line, which is the case commonly considered in the literature, but along an arbitrary path in the horizontalvertical plane. The main obstacle encountered lies in the fact that the feedback controlled system becomes unstable in some ”critical regions” along the cart path curve (close to the points where the path is vertical). The overall closed loop system is characterized by an alternation of periods of stability and instability and its state is proved to be stable under some conditions, which involve the geometry of the path. Simulations results are provided for the case in which the path is a circle. Copyright 2005 IFAC
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