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

Chandra, Jonathan; Tamba, Tua A.; Sadiyoko, Ali

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