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Nelineinaya Dinamika [Russian Journal of Nonlinear Dynamics], 2011, Volume 7, Number 4, Pages 837–844
(Mi nd295)
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This article is cited in 1 scientific paper (total in 1 paper)
The problem of determining the inclination angle of a pendulum on a cylinder
V. N. Belotelov Research Institute of Mechanics, M. V. Lomonosov Moscow State University, Michurinsky Pr. 1, Moscow, 119192, Russia
Abstract:
The problem of determining the phase coordinates of a pendulum on a cylinder by measurements of the inclination angle of the cylinder relative to the pendulum is formulated and solved. A necessary and sufficient condition for observability is found. A linear Luenberger observer is constructed whose output variables are used to close a linear feedback control system. Numerical experiments are performed showing the possibility of using this type of control (by means of variables of the observer) in a nonlinear model of controlled motion of a pendulum on a cylinder.
Keywords:
linear observer, Luenberger observer, inverted pendulum, pendulum on a cylinder, two-wheeled pendulum.
Received: 24.06.2011 Accepted: 16.10.2011
Citation:
V. N. Belotelov, “The problem of determining the inclination angle of a pendulum on a cylinder”, Nelin. Dinam., 7:4 (2011), 837–844
Linking options:
https://www.mathnet.ru/eng/nd295 https://www.mathnet.ru/eng/nd/v7/i4/p837
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Abstract page: | 273 | Full-text PDF : | 86 | References: | 36 | First page: | 1 |
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