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dc.contributor.authorNeusser , Zdenek
dc.contributor.authorValášek , Michael
dc.date.accessioned2017-02-09T08:24:03Z
dc.date.available2017-02-09T08:24:03Z
dc.date.issued2013
dc.identifier.citationActa Polytechnica. 2013, vol. 53, no. 6.
dc.identifier.issn1210-2709 (print)
dc.identifier.issn1805-2363 (online)
dc.identifier.urihttp://hdl.handle.net/10467/67098
dc.description.abstractThis paper deals with controlling the swing-up motion of the double pendulum on a cart using a novel control. The system control is based on finding a feasible trajectory connecting the equilibrium positions from which the eigenfrequencies of the system are determined. Then the system is controlled during the motion between the equilibrium positions by the special harmonic excitation at the system resonances. Around the two equilibrium positions, the trajectory is stabilized by the nonlinear quadratic regulator NQR (also known as SDRE – the State Dependent Riccati Equation). These together form the control between the equilibrium positions demonstrated on the double pendulum on a cart.en
dc.format.mimetypeapplication/pdf
dc.language.isoeng
dc.publisherČeské vysoké učení technické v Prazecs
dc.publisherCzech Technical University in Pragueen
dc.relation.ispartofseriesActa Polytechnica
dc.relation.urihttps://ojs.cvut.cz/ojs/index.php/ap/article/view/2021
dc.rightsCreative Commons Attribution 4.0 International Licenseen
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/
dc.titleCONTROL OF THE DOUBLE INVERTED PENDULUM ON A CART USING THE NATURAL MOTION
dc.typearticleen
dc.date.updated2017-02-09T08:24:03Z
dc.identifier.doi10.14311/AP.2013.53.0883
dc.rights.accessopenAccess
dc.type.statusPeer-reviewed
dc.type.versionpublishedVersion


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Except where otherwise noted, this item's license is described as Creative Commons Attribution 4.0 International License