Proceedings of the Annual Conference of the Institute of Systems, Control and Information Engineers
The 52nd Annual Conference of the Institute of Systems, Control and Information Engineers
Session ID : 2F1-3
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Host: Institute of Systems, Control and Information Engineers

Analysis and Stabilization of the Cart-Pendulum Modeled by Discrete Mechanics with Friction
*Tatsuya Kai, Kensuke Bito
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Keywords: Discrete Mechanics, Cart-Pendulum, Solvability, Discrete-time Optimal Regulator
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Abstract
This talk deals with the cart-pendulum modeled by discrete mechanics with friction. we analyze the discrete cart-pendulum from the viewpoint of solvability of an implicit nonlinear discrete-time system. Then, we consider stabilization of the discrete cart-pendulum via discrete-time optimal regulator theory and show some simulations to verify our results.
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© 2008 The Institute of Systems, Control and Information Engineers
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