Energy based modeling and swing up control synthesis of an inverted pendulum system

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dc.contributor.author Chandra, Jonathan
dc.contributor.author Tamba, Tua A.
dc.contributor.author Sadiyoko, Ali
dc.date.accessioned 2022-10-06T03:02:37Z
dc.date.available 2022-10-06T03:02:37Z
dc.date.issued 2019
dc.identifier.isbn 978-1-7281-3984-5
dc.identifier.other maklhsc675
dc.identifier.uri http://hdl.handle.net/123456789/13251
dc.description Makalah dipresentasikan pada 2019 International Conference on Mechatronics, Robotics and System Engineering (MoRSE). Bali, 4-6 December 2019. p. 1-5. en_US
dc.description.abstract The inverted pendulum system (IPS) on a cart is an example benchmark that is often used to demonstrate the modeling and control design frameworks of modern control systems. This paper describes the derivation of dynamic model and control law of an IPS using energy-based methods. Specifically, this paper first develops the IPS’ dynamic model using Euler-Lagrange method and then derives a control law to stabilize it on the desired position using Lyapunov method. Simulation results are presented to show the capability of the designed control law to stabilize the IVP on its equilibrium point. en_US
dc.language.iso en en_US
dc.publisher IEEE en_US
dc.subject LYAPUNOV en_US
dc.subject INVERTED PENDULUM en_US
dc.subject EULER-LAGRANGE DYNAMICS en_US
dc.subject ENERGY-BASED METHODS en_US
dc.title Energy based modeling and swing up control synthesis of an inverted pendulum system en_US
dc.type Conference Papers en_US


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