2013
DOI: 10.3182/20130828-3-uk-2039.00053
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A new device laboratory: Experimental validation

Abstract: A device laboratory was designed to create a commanded disturbance to the Furuta inverted pendulum. This pendulum was modified by adding a second inverted pendulum coupled to the main one by means of a semi-rigid spring. The induced motion on the second inverted pendulum causes displacement of the center of mass of the system, producing a kind of perturbation similar to that presented on mobile inverted pendulum transportation units. A linear matrix inequality (LMI) controller is designed from the unperturbed … Show more

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