Displaying similar documents to “Nonlinear control of chaotic systems: a switching manifold approach.”

Rotary inverted pendulum: trajectory tracking via nonlinear control techniques

Luis E. Ramos-Velasco, Javier Ruiz, Sergej Čelikovský (2002)

Kybernetika

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The nonlinear control techniques are applied to the model of rotary inverted pendulum. The model has two degrees of freedom and is not exactly linearizable. The goal is to control output trajectory of the rotary inverted pendulum asymptotically along a desired reference. Moreover, the designed controller should be robust with respect to specified perturbations and parameters uncertainties. A combination of techniques based on nonlinear normal forms, output regulation and sliding mode...