Disturbance Decoupling Problem for $n$-link chain pendulum on a cart system
Systems and Control
2024-03-01 v1 Systems and Control
Abstract
A disturbance decoupling problem for a -link chain pendulum on a cart is considered. A model of the cart developed in a coordinate-free framework and the linearized equations of this system are considered from [1]. It is shown that it is possible to design a suitable state feedback such that the angular position or velocity of the -link can always be decoupled from the disturbance coming at the cart.
Cite
@article{arxiv.2402.19168,
title = {Disturbance Decoupling Problem for $n$-link chain pendulum on a cart system},
author = {Sayar Das and Deepak Patil},
journal= {arXiv preprint arXiv:2402.19168},
year = {2024}
}