Rotary inverted pendulum: Trajectory tracking via nonlinear control techniques.

Result code in IS VaVaI

RIV/67985556:_____/02:16020035 - isvavai.cz

Result on the web

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DOI - Digital Object Identifier

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Result language

angličtina

Original language name

Rotary inverted pendulum: Trajectory tracking via nonlinear control techniques.

Original language description

The nonlinear control techniques are applied to the model of rotary inverted pendulum. The goal is to control output trajectoty of the rotary inverted pendulum asymptotically along a desired reference. Moreover, the designed controller should be robust with respect to specified perturbations and parameters uncertainties. A combination of techniques based on nonlinear normal form, output regulation and sliding mode approach is used here.

Czech name

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Czech description

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Type

J_x - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)

CEP classification

BC - Theory and management systems

OECD FORD branch

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Project

GA102/02/0709: Modern numerical methods for systems, signals and control

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Z - Vyzkumny zamer (s odkazem do CEZ)

Publication year

2002

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Kybernetika

ISSN

0023-5954

e-ISSN

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Volume of the periodical

38

Issue of the periodical within the volume

2

Country of publishing house

CZ - CZECH REPUBLIC

Number of pages

16

Pages from-to

217-232

UT code for WoS article

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EID of the result in the Scopus database

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