Controlling the inverted pendulum by means of a nested saturation function
作者： Carlos Aguilar Ibañez , O. Gutiérrez Frias
DOI: 10.1007/S11071-007-9224-3
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摘要: A nonlinear controller is presented for the stabilization of underactuated inverted pendulum mounted on a cart. The fact that this system can be expressed as chain integrators, with an additionally perturbation, allows us to use nested saturation control technique bring top position, zero displacement obtained closed-loop semiglobal, asymptotically stable, and locally exponentially under assumption position angle initialized above upper half plane.
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