Servicios Personalizados
Revista
Articulo
Indicadores
- Citado por SciELO
- Accesos
Links relacionados
- Similares en SciELO
Compartir
Revista mexicana de física
versión impresa ISSN 0035-001X
Resumen
AGUILAR-IBANEZ, C.; GUTIERREZ F., O. Octavio y SOSSA A., H.. Controlled Lagrangian approach to the stabilization of the inverted pendulum system. Rev. mex. fis. [online]. 2008, vol.54, n.4, pp.329-335. ISSN 0035-001X.
A controlled Lagrangian approach is presented for the stabilization of an inverted pendulum mounted on a cart. The stabilization strategy consists in forcing the closed-loop system to behave as an Euler-Lagrange system, with a fixed inertia matrix. For carrying it out, it is necessary to adequately shape the potential and kinetic energies of the closed-loop system. The idea behind this procedure is to make an energy-balance between the overall energy of the pendulum system and the dissipation energy produced by the action of the control force. The resulting closed-loop system is locally asymptotically stable about its unstable equilibrium point with a very large attraction domain.
Palabras llave : Euler-Lagrange system; energy balance; Lyapunov method.