Nonlinear Control Based on Equilibrium Point Analysis for Inverted Pendulum

Hiroaki Morimoto; Shunji Kawamoto

doi:10.11499/sicep.2002.0.52.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.52.0

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Nonlinear Control Based on Equilibrium Point Analysis for Inverted Pendulum

Hiroaki Morimoto, Shunji Kawamoto

Author information

Keywords: Nonlinear control, Inverted pendulum, Equilibrium point

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 52

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Abstract

The aim of this paper is to apply a nonlinear control based on equilibrium point analysis to an inverted pendulum. First, a nonlinear function of the control input is determined by the analysis, and the gains to replace unstable point with stable one are obtained. Finally, it is demonstrated that the pendulum can be transfered from pendant state to inverted one by the proposed nonlinear control.

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