Controllability of a planar inverted pendulum on a cart
Optimization and Control
2012-03-21 v1
Abstract
Using tools and techniques from geometric control theory, namely Hermann-Nagano theorem, we prove controllability result for a mechanical system consisting of a planar double inverted pendulum fixed to a wheeled cart that can move linearly along a horizontal track.
Keywords
Cite
@article{arxiv.1203.4533,
title = {Controllability of a planar inverted pendulum on a cart},
author = {M. Isabel Caiado},
journal= {arXiv preprint arXiv:1203.4533},
year = {2012}
}
Comments
9 pages, submitted to Systems & Control Letters