TY - JOUR
T1 - Digital control of a double inverted pendulum on an inclined rail
AU - Furuta, Katsuhisa
AU - Kajiwara, Hiroyuki
AU - Kosuge, Kazuhiro
N1 - Funding Information:
Received 23 June 1980. t This research is in part supported by Kakenhi (C) 455096, (B) 546095. t Department of Control Engineering, Tokyo Institute of Technology, Oh-Okayama, Meguro-ku, Tokyo, Japan. .
Copyright:
Copyright 2015 Elsevier B.V., All rights reserved.
PY - 1980/11
Y1 - 1980/11
N2 - A digital control system to control a double inverted pendulum on a cart is presented, where the cart is placed on an inclined rail and is to be kept in position at a given reference point. The controller design is based on linear servo control theory and can control the cart position of the inverted pendulum, eliminating the effect of the rail incline. Theoretical analyses of tho pendulum and of the control system arc given.
AB - A digital control system to control a double inverted pendulum on a cart is presented, where the cart is placed on an inclined rail and is to be kept in position at a given reference point. The controller design is based on linear servo control theory and can control the cart position of the inverted pendulum, eliminating the effect of the rail incline. Theoretical analyses of tho pendulum and of the control system arc given.
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U2 - 10.1080/00207178008922898
DO - 10.1080/00207178008922898
M3 - Article
AN - SCOPUS:0019079795
SN - 0020-7179
VL - 32
SP - 907
EP - 924
JO - International Journal of Control
JF - International Journal of Control
IS - 5
ER -