On control of nonlinear under-actuated dynamic systems (Comparative study of modern control methods in application to swing-up control of inverted pendulum)
The thesis presents comparative study of modern control methods for regulating under-actuates systems. The classical pendulum on a cart system, a 2-DOF under-actuated system was utilized as a benchmark system for analyzing controllers' performances. The work includes analysis, controller des...
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| Language: | English en |
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2008
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| Online Access: | http://hdl.handle.net/1828/1289 |