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A family of smooth controllers for swinging up a pendulum


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dc.creator Aström, K. J.
dc.creator Aracil, J.
dc.creator Gordillo, F. 2015-03-06T07:35:55Z 2015-03-06T07:35:55Z 2008
dc.identifier.issn 0005-1098 es
dc.description Es el primer envío que hago. Le agradeceré si me confirma que es todo correcto, especialmente el cumplimiento de los derechos de propiedad de la editorial. Mi email es es
dc.description.abstract The paper presents a new family of controllers for swinging up a pendulum. The swinging up of the pendulum is derived from physical arguments based on two ideas: shaping the Hamiltonian for a system without damping; and providing damping or energy pumping in relevant regions of the state space. A family of simple smooth controllers without switches with nice properties is obtained. The main result is that all solutions that do not start at a zero Lebesgue measure set converge to the upright position for a wide range of the parameters in the control law. Thus, the swing-up and the stabilization problems are simultaneously solved with a single, smooth law. The properties of the solution can be modified by the parameters in the control law. Control signal saturation can also be taken into account using the Hamiltonian approach. es
dc.description.sponsorship MCyT-FEDER DPI2006-07338 es
dc.format application/pdf es
dc.language.iso eng es
dc.relation.ispartof Automatica, 44(7), 1841-1848. es
dc.rights Atribución-NoComercial-CompartirIgual 4.0 Internacional *
dc.rights.uri *
dc.subject Pendulum es
dc.subject Shaping Hamiltonians es
dc.subject Swing-up es
dc.subject Energy management es
dc.title A family of smooth controllers for swinging up a pendulum es
dc.type info:eu-repo/semantics/article es
dc.rights.accessrights info:eu-repo/semantics/openAccess es
dc.contributor.affiliation Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática es
dc.relation.publisherversion doi:10.1016/j.automatica.2007.10.040 es
dc.identifier.doi 10.1016/j.automatica.2007.10.040
dc.contributor.funder Ministerio de Ciencia y Tecnología (MCYT). España
dc.contributor.funder European Commission (EC). Fondo Europeo de Desarrollo Regional (FEDER)
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