Summary
2007 International Symposium on Nonlinear Theory and its Applications
2007
Session Number:19PM1-A
Session:
Number:19PM1-A-5
On Analysis and Control of the Cart-Pendulum System Modeled by Discrete Mechanics
Tatsuya KAI, Yohei YAMAMOTO,
pp.485-488
Publication Date:2007/9/16
Online ISSN:2188-5079
DOI:10.34385/proc.41.19PM1-A-5
Summary:
This paper deals with the cart-pendulum modeled by discrete mechanics, which is known as a good discretizing tool for mechanical systems. We first derive the discrete model of the cart-pendulum. Next, the discrete cart-pendulum is analyzed from the aspect of solvability. We then derive a control algorithm to stabilize the discrete cart-pendulum based on its linear approximation system. Finally, simulations are shown to demonstrate e?ectiveness of the proposed algorithm.