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IMA Journal of Mathematical Control and Information Advance Access originally published online on March 27, 2006
IMA Journal of Mathematical Control and Information 2007 24(1):31-45; doi:10.1093/imamci/dnl005
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© The author 2006. Published by Oxford University Press on behalf of the Institute of Mathematics and its Applications. All rights reserved.

A linear differential flatness approach to controlling the Furuta pendulum

Carlos Aguilar-Ibáñez**,1 and Hebertt Sira-Ramírez***,2

1 Centro de Investigación en Computación del Intituto Politecnico Nacional, Avenida Juan de Dios Bátiz s/n Esquina con Manuel Othon de Mendizabal, Colonia San Pedro Zacatenco, AP 75476, 07700 México, D.F., México, 2 Centro de Investigación y Estudios Avanzados del Intituto-Politecnico Nacional, Departamento de Ingeniería Eléctrica, Sección de Mecatrónica, Avenida Intituto-Politecnico Nacional # 2508, Colonia San Pedro Zacatenco, AP 14740, 07300 México, D.F., México

** Email: caguilar{at}cic.ipn

*** Email: hsira{at}mail.cinvestav.mx


  Abstract

The aim of this work is to motivate the use of linear flatness, or controllability, to design a feedback control law for the rather challenging mechanism known as the ‘Furuta pendulum’. This is achieved by introducing three feedback controller design options for the stabilization and rest-to-rest trajectory tracking tasks: a direct pole placement approach, a hierarchical high-gain approach and a generalized proportional integral approach synthesized on the basis of measured inputs and outputs.

Keywords: flatness; high-gain control; generalized proportional integral control; Furuta pendulum system.

Received on 18 February 2005. accepted on 10 October 2005.


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