Control of an under actuated unstable nonlinear object

  • Nils A. Andersen
  • Lars Skovgaard
  • Ole Ravn
Conference paper
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 271)


This paper presents a comprehensive comparative study of several nonlinear controllers for stabilisation of the under actuated unstable nonlinear object known as the Acrobot in the literature. The object is a two DOF robot arm only actuated at the elbow. The study compares several control algorithms from the literature and a new algorithm developed during the study. The comparison is based on both simulation and real experiments for all controllers.


Simulated Output Linear Controller Zero Dynamic Controller Figure Acceleration Control 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2001

Authors and Affiliations

  • Nils A. Andersen
    • 1
  • Lars Skovgaard
    • 1
  • Ole Ravn
    • 1
  1. 1.Department of AutomationTechnical University of DenmarkLyngbyDenmark

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