Summary
International Symposium on Nonlinear Theory and its Applications
2008
Session Number:B2L-F
Session:
Number:B2L-F4
Solvability Analysis and Stabilization of the Cart-Pendulum Modeled by Discrete Mechanics with Friction
Tatsuya KAI, Kensuke BITO,
pp.-
Publication Date:2008/9/7
Online ISSN:2188-5079
Summary:
This paper deals with the cart-pendulum modeled by discrete mechanics with friction. We analyze the discrete cart-pendulum from the viewpoint of solvability. Then, we consider stabilization of the discrete cart-pendulum via discrete-time optimal regulator theory and propose a method to transform a discrete-time input into a zero-order hold input. Finally, we show some simulations to verify our results.