Stabilization of a 3-Link Pendulum in Vertical Position

Krzysztof Kozłowski; Dariusz Pazderski; Paweł Parulski; Patryk Bartkowiak

doi:10.1007/978-3-030-50936-1_55

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Title

Stabilization of a 3-Link Pendulum in Vertical Position

Authors

Krzysztof Kozłowski (WARiE) ^{[ 1 ][ 2.2 ][ P ]}
Dariusz Pazderski (WARiE) ^{[ 1 ][ 2.2 ][ P ]}
Paweł Parulski (WARiE) ^{[ 1 ][ P ]}
Patryk Bartkowiak (WARiE) ^{[ 1 ][ P ]}

^{[ 1 ]} Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | ^{[ P ]} employee

Scientific discipline (Law 2.0)

[2.2] Automation, electronics and electrical engineering

Year of publication

2020

Chapter type

chapter in monograph / paper

Publication language

english

Keywords

EN

nonlinear dynamics
control theory
3-link pendulum
linearization
zero dynamic

Abstract

EN The aim of the paper is to verify the linearizabilty conditions for the triple inverted pendulum driven by 2 inputs, and stabilize it in the upright position. Moreover, the zero dynamics is derived and illustrated graphically.

Date of online publication

24.06.2020

Pages (from - to)

651 - 662

DOI

10.1007/978-3-030-50936-1_55

URL

https://link.springer.com/chapter/10.1007/978-3-030-50936-1_55

Book

Advanced, Contemporary Control : Proceedings of KKA 2020 - The 20th Polish Control Conference, Łódź, Poland, 2020

Presented on

20th Polish Control Conference (KKA 2020), 14-29.10.2020, Łódź, Polska

Ministry points / chapter

20

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