Abstract
In this paper we present some additional results regarding the pumping-damping strategy for swinging up a pendulum introduced in [3]. Here, the family of energy functions is enlarged and the corresponding pumping-damping functions are proposed giving rise to new smooth controllers that swing up and stabilize the pendulum. Furthermore, a generalization of the stability criterion is introduced for this larger class of controllers.
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References
José Ángel Acosta. Nonlinear control of underactuated systems. PhD thesis, University of Seville, 2004. In Spanish.
J. Aracil and F. Gordillo. The inverted pendulum: A challenge for nonlinear control (in Spanish). Revista Iberoamericana de Automätica e Informätica Industrial, 2(2): 8–19, 2005.
K. J. Åström, J. Aracil, and F. Gordillo. A new family of smooth strategies for swinging up a pendulum. In 16 th IFAC World Congress. Prague, 2005.
K.J. Åström and K. Furuta. Swinging up a pendulum by energy control. Automatica, 36:287–295, 2000.
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© 2007 Springer-Verlag Berlin Heidelberg
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Aracil, J., Gordillo, F., Åström, K.J. (2007). A Family of Pumping-Damping Smooth Strategies for Swinging Up a Pendulum. In: Allgüwer, F., et al. Lagrangian and Hamiltonian Methods for Nonlinear Control 2006. Lecture Notes in Control and Information Sciences, vol 366. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-73890-9_27
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DOI: https://doi.org/10.1007/978-3-540-73890-9_27
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-73889-3
Online ISBN: 978-3-540-73890-9
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