Stabilizing a Rotary Inverted Pendulum Based on Logarithmic Lyapunov Function
The stabilization of a Rotary Inverted Pendulum based on Lyapunov stability theorem is investigated in this paper. The key of designing control laws by Lyapunov control method is the construction of Lyapunov function. A logarithmic function is constructed as the Lyapunov function and is compared wit...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2017-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2017/4091302 |