TY - JOUR
T1 - Nonlinear optimal control of a triple link inverted pendulum with single control input
AU - Eltohamy, Khaled Gamal
AU - Kuo, Chen-Yuan
PY - 1998/1/1
Y1 - 1998/1/1
N2 - In this paper, a single-input feedback controller for a triple link inverted pendulum is designed using a nonlinear optimization technique. The employment of such a technique appears necessary because the traditional linear design process cannot incorporate the nonlinear dynamics of such system and its physical limitations. The new controller design is formulated as an optimization problem which accounts for the physical limitations and stability criterion of the system as infinite-dimensional nonlinear inequality constraints. Based on the gains generated by such nonlinear optimization technique, a custom-built triple link inverted pendulum is successfully stabilized in real-time experiments.
AB - In this paper, a single-input feedback controller for a triple link inverted pendulum is designed using a nonlinear optimization technique. The employment of such a technique appears necessary because the traditional linear design process cannot incorporate the nonlinear dynamics of such system and its physical limitations. The new controller design is formulated as an optimization problem which accounts for the physical limitations and stability criterion of the system as infinite-dimensional nonlinear inequality constraints. Based on the gains generated by such nonlinear optimization technique, a custom-built triple link inverted pendulum is successfully stabilized in real-time experiments.
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U2 - 10.1080/002071798222811
DO - 10.1080/002071798222811
M3 - Article
AN - SCOPUS:0031672813
SN - 0020-7179
VL - 69
SP - 239
EP - 256
JO - International Journal of Control
JF - International Journal of Control
IS - 2
ER -