Experimental Verification and Comparison of Different Stabilizing Controllers for a Rotary Inverted Pendulum
This thesis focuses on implementation of the swing-up, switching and stabilizing controllers for the rotary inverted pendulum. An energy based method to swing-up the pendulum and a state feedback controller to keep the pendulum in the upright position are employed. The mixed H2/H∞; state feedback co...
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| Format: | Others |
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OpenSIUC
2013
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| Online Access: | https://opensiuc.lib.siu.edu/theses/1307 https://opensiuc.lib.siu.edu/cgi/viewcontent.cgi?article=2321&context=theses |