The paper contains a detailed analysis of the application of the passification approach to the problem of rendering the hyperbolic upright equilibrium of the simplified model of the Furuta pendulum globally attractive. It is shown that any smooth feedback control passifying the system with the naturally defined storage functions does not provide the desired property. Based on the idea of the VSS-like modification of the speed-gradient method, stabilizing regulator is suggested and studied both theoretically and by simulations.

Original languageEnglish
Title of host publicationEuropean Control Conference, ECC 1999 - Conference Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3611-3616
Number of pages6
ISBN (Electronic)9783952417355
DOIs
StatePublished - 24 Mar 2015
Event1999 European Control Conference, ECC 1999 - Karlsruhe, Germany
Duration: 31 Aug 19993 Sep 1999

Publication series

NameEuropean Control Conference, ECC 1999 - Conference Proceedings

Conference

Conference1999 European Control Conference, ECC 1999
Country/TerritoryGermany
CityKarlsruhe
Period31/08/993/09/99

    Scopus subject areas

  • Control and Systems Engineering

    Research areas

  • discontinuous feedback control, nonlinear pendulum-like system, speed-gradient method

ID: 87373858