Closed-Loop Dynamic Analysis of a Rotary Inverted Pendulum for Control Design

This paper presents an approximate analytical solution for the weakly nonlinear closed-loop dynamics of the sliding phase of a sliding mode controlled rotary inverted pendulum based on the multiple scale method. A locally stable nonlinear sliding mode control law with starting configurations above t...

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Journal Title: Journal of Dynamic Systems, Measurement, and Control Vol. 134; no. 2
Authors: Hasheem Ashrafiuon, Alan M. Whitman
Format: Article
Language: English
Published: March 2012