Click here to skip to this page's main content.

New to the Open Library? — Learn how it works
Last edited by WorkBot
January 24, 2010 | History

The real stability and stabilizability radii of the multi-link inverted pendulum system 1 edition

The real stability and stabilizability radii of the multi-link inverte ...
Simon Sai-Ming Lam

Read

No readable version available.

Lists

You could add The real stability and stabilizability radii of the multi-link inverted pendulum system to a list if you log in.
Fiddlesticks. There's no description for this book yet. Can you help?
There is only 1 edition record, so we'll show it here...  •  Add edition?

The real stability and stabilizability radii of the multi-link inverted pendulum system.

Published 2005 .
Written in English.

About the Book

A multi-link inverted pendulum with an arbitrary number of v links and controlled by a single torque input is considered in this thesis. The nonlinear and linearized dynamics are derived for a general v. It is then shown that the linearized model of the system is controllable for all v ≥ 1. Although this implies from linear control theory that one can locally stabilize the system with any number of links, it is well known that it is experimentally difficult to do so as the number of links increases. Such a difficulty is illustrated by three "real-life" simulations. It is believed that the primary reason for such an increase of difficulty is the pendulum system's poor stabilizability properties as additional links are added. Using the real stabilizability radius, this thesis performs a robustness study to confirm this conjecture.

Edition Notes

Source: Masters Abstracts International, Volume: 44-02, page: 0994.

Thesis (M.A.Sc.)--University of Toronto, 2005.

Electronic version licensed for access by U. of T. users.

GERSTEIN MICROTEXT copy on microfiche (2 microfiches).

The Physical Object

Pagination
89 leaves.
Number of pages
89

ID Numbers

Open Library
OL19216871M
ISBN 10
0494072636

History Created December 11, 2009 · 2 revisions Download catalog record: RDF / JSON

January 24, 2010 Edited by WorkBot add more information to works
December 11, 2009 Created by WorkBot add works page