Rotary inverted pendulum: Trajectory tracking via nonlinear control techniques

0410821 20240903170614.520060210235959.9 Rotary inverted pendulum: Trajectory tracking via nonlinear control techniques 16 s. cav_un_epca*02971630023-5954Kybernetika382 (2002)217-232Ústav teorie informace a automatizace AV ČR, v. v. i. nonlinear systems rotary inverted pendulum output regulation sliding modes cav_un_auth*0101183 Ramos-Velasco Luis Enrique UTIA-B Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0212411 Ruiz-León J. J. MX cav_un_auth*0101074 Čelikovský Sergej UTIA-B Department of Control Theory Ústav teorie informace a automatizace AV ČR, v. v. i. 09I GA102/02/0709 GA ČR cav_un_auth*0004118 31844-A CONACYT MX CEZ:AV0Z1075907 The nonlinear control techniques are applied to the model of rotary inverted pendulum. The goal is to control output trajectoty 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 form, output regulation and sliding mode approach is used here. BC TŘ http://hdl.handle.net/11104/0130908 UTIA-B 20020035 2002 cav_un_epca*0297163 Kybernetika 0023-5954 Roč. 38 č. 2 2002 217 232 Ústav teorie informace a automatizace AV ČR, v. v. i.