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Control of the Unstable System of the Inverted Pendulum Using the Polynomial Approach

Jiří MARHOLT, František GAZDOŠ, Petr DOSTÁL

Abstract


This paper deals with the design of feedback control system for the unstable nonlinear system of the inverted pendulum using the polynomial approach. The resultant controllers enable stabilization of the pendulum rod in the unstable top position. Spectral factorization technique together with the pole-placement method are utilized for the controller design and robust vs. non-robust setting of the tuning poles is presented and discussed.

Keywords


Unstable system, Inverted pendulum PS600, Feedback control, Polynomial approach
Full paper

2011-03-23

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