Abstract
The purpose of this chapter is to introduce a new trajectory tracking controller applied to the Furuta pendulum. The problem consists in the design of a controller such that the arm tracks a desired time-varying trajectory while the pendulum remains regulated at the upward position. For this problem, a controller is derived from the input–output feedback linearization technique and is designed to keep the error trajectories uniformly ultimately bounded (UUB).
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Moreno-Valenzuela, J., Aguilar-Avelar, C. (2018). Feedback Linearization Control of the Furuta Pendulum. In: Motion Control of Underactuated Mechanical Systems. Intelligent Systems, Control and Automation: Science and Engineering, vol 88. Springer, Cham. https://doi.org/10.1007/978-3-319-58319-8_5
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DOI: https://doi.org/10.1007/978-3-319-58319-8_5
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Publisher Name: Springer, Cham
Print ISBN: 978-3-319-58318-1
Online ISBN: 978-3-319-58319-8
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