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Nonlinear Control of Underactuated Mechanical Systems(inverted Pendulum)

By Amba Asuk

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Nonlinear Control of Underactuated Mechanical Systems(inverted Pendulum)
 
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Abstract

The modelling and control of an inverted pendulum system was carried out in this research thesis. A novel approach for modelling, stabilization and swing up control of an inverted pendulum on a cart was achieved using tools from nonlinear control theory. A large collection of practical mechanical systems can be modelled, studied and automated using techniques developed for the inverted pendulum. A nonexhaustive list of sample systems controlled using principles of the inverted pendulum includes:- Control in rocket launching, control of systems with faulty actuators, control of cranes, control in underactuated robotics, control of buildings under earthquakes,control of bipedal robots and prosthetics,e.t.c.  

About the Author

Amba Asuk

Amba Asuk

Electrical and Control Engineer with keen passion for developing novel solutions for the application of instrumentation and control systems engineering in the solution of real world problems.

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