Unstable equilibrium

This paper presents a back-stepping technique to control this system balancing at a vertical upright position-the unstable equilibrium point. Lyapunov-based back-stepping is proposed for a rotary inverted pendulum in this research.

9p vidoctorstrange 06-05-2023 3 1   Download

Rotary Inverted Pendulum (RIP) plays a vital role in control engineering. Rotary Inverted Pendulum is a complex, nonlinear, non-minimum-phase and under-actuated system which has various applications in the field of Robotics. The main contribution of this paper is to design and control RIP by using Linear Quadratic Regulator (LQR) controller for stabilization at vertically upright position - the unstable equilibrium point, and Linear Quadratic Tracker (LQT) controller for tracking the desired trajectory.

11p vicaptainmarvel 21-04-2023 8 4   Download

Lecture Mechanics of materials - Chapter 11: Stability of columns. The main contents of the chapter consist of the following: the development and use of buckling formulas in analysis and design of structures, buckling is the study of stability of a structure’s equilibrium...

13p lijian 29-06-2021 11 1   Download