Nonlinear Control of Underactuated Mechanical Systems(inverted Pendulum)
By Amba Asuk
Uploaded by: Amba Asuk
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.