2026-04-17T11:45:44Zhttps://recercat.cat/oai/requestoai:recercat.cat:2117/1161132026-01-21T04:34:55Zcom_2072_1033col_2072_452950
urn:hdl:2117/116113
Rotary inverted pendulum with magnetically external perturbations as a source of the pendulum’s base navigation commands
Pujol Vázquez, Gisela
Acho Zuppa, Leonardo
Mobayen, Saleh
Nápoles Alberro, Amelia
Perez Gracia, Vega
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
Electromechanical decives
Pendulum -- Automatic control
Rotary inverted pendulum
H8-linear matrix inequality technique
Control theory
Electromagnetic manipulator
External perturbations
Dispositius electromecànics
Pèndol -- Control automàtic
Classificació AMS::93 Systems Theory; Control
Classificació AMS::15 Linear and multilinear algebra; matrix theory
The main objective of this paper is to drive a rotary inverted pendulum by following a desired navigation instruction. This navigation is commanded by the user through a new electromagnetic device which is allowed to perturb the pendulum from its upright position. This apparatus consists of an electronic magnetic driving circuit to introduce commands and realized via two operated magnetic coils. So, the external programmed magnetic perturbation can be seen as external commandments. Therefore, the control problem statement is solved via a modified regulation control implementation, to maintain the pendulum on its upright position and giving free manipulation of the base of the rotary inverted pendulum. Hence, by using the corresponding H8-linear matrix inequality technique, a static state controller is designed and tested experimentally so supporting our findings.
Peer Reviewed
Postprint (author's final draft)
2018-07
Article
https://www.sciencedirect.com/science/article/pii/S0016003218302151
info:eu-repo/grantAgreement/MINECO//DPI2015-64170-R/ES/DISEÑO DE ESTRATEGIAS AVANZADAS DE CONTROL Y DETECCION DE FALLOS PARA SISTEMAS MECATRONICOS COMPLEJOS/
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
Open Access
Attribution-NonCommercial-NoDerivs 3.0 Spain