NASA NTRS · 19830044179
Control of the constrained planar simple inverted pendulum
Abstract
Control of a constrained planar inverted pendulum by eigenstructure assignment is considered. Linear feedback is used to stabilize and decouple the system in such a way that specified subspaces of the state space are invariant for the closed-loop system. The effectiveness of the feedback law is tested by digital computer simulation. Pre-compensation by an inverse plant is used to improve performance.
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Bavarian, B., Wyman, B. F., Hemami, H.. 1983-04-01. Control of the constrained planar simple inverted pendulum. https://ntrs.nasa.gov/citations/19830044179
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