Summary
International Symposium on Nonlinear Theory and its Applications
2009
Session Number:A2L-A
Session:
Number:A2L-A4
Stabilization Control and Experiments of the Cart-Pendulum based on Discrete Mechanics
Tatsuya KAI, Takeshi SHINTANI,
pp.-
Publication Date:2009/10/18
Online ISSN:2188-5079
Summary:
This paper considers the stabilization problem of the cart-pendulum from the view point of discrete mechanics. First, we show the discrete-time model of the cart-pendulum by using discrete mechanics. Next, we derive a stabilization control method for the continuous-time cart-pendulum based on discrete mechanics, and then numerical simulations are shown. Finally, we apply the proposed method to the actual cart-pendulum to show the validity of our method.