Skip to content

Publications

Detail of publication

Citation

Bláha, L. : Stabilization and motion control of a inverted pendulum on a two wheel cart . The 1st Young Researchers Conference on Applied Sciences, p. 218-223, Západočeská univerzita, Plzeň, 2007.

Abstract

This paper deals with projecting and realization of a control system of a two-wheel cart with one inverted pendulum. First the model is derived by means of Lagrange equation methods. Then the LTI state space model is obtained by linearization. The control algorithm is divided into two parts. The first one is the feedback control to stabilize the pendulum in an upright position with respect to the position of the cart. The second one is the feedforward control for trajectory tracking of the cart. The control law and the behaviour simulation of a given model was done in Matlab/Simulink/SimMechanics environment. The achieved results were simulated and successfully used also in a real system.

Detail of publication

Title: Stabilization and motion control of a inverted pendulum on a two wheel cart
Author: Bláha, L.
Language: English
Date of publication: 13 Nov 2007
Year: 2007
Type of publication: Papers in proceedings of reviewed conferences
Title of journal or book: The 1st Young Researchers Conference on Applied Sciences
Page: 218 - 223
ISBN: 978-80-7043-574-8
Publisher: Západočeská univerzita
Address: Plzeň
Date: 13 Nov 2007 - 13 Nov 2007
/ /

Keywords

inverted pendulum, state-space model, linearization, state feedback, trajectory tracking

BibTeX

@INPROCEEDINGS{BlahaL_2007_Stabilizationand,
 author = {Bl\'{a}ha, L.},
 title = {Stabilization and motion control of a inverted pendulum on a two wheel cart},
 year = {2007},
 publisher = {Z\'{a}pado\v{c}esk\'{a} univerzita},
 journal = {The 1st Young Researchers Conference on Applied Sciences},
 address = {Plze\v{n}},
 pages = {218-223},
 ISBN = {978-80-7043-574-8},
 url = {http://www.kky.zcu.cz/en/publications/BlahaL_2007_Stabilizationand},
}