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...
|Journal Title:||Journal of Dynamic Systems, Measurement, and Control Vol. 134; no. 2|
|Authors:||Hasheem Ashrafiuon, Alan M. Whitman|