Using the Lyapunov direct method,a variable structure controller is proposed for the stabilization and robust control of a single inverted pendulum.Theoretical analysis and computer simulations have illustrated that this control scheme can stabilize the pendulum, control the cart displacement and also realize the robust control when the system is subjected to parameter changes.
|Number of pages||4|
|Journal||Control Theory and Applications|
|Publication status||Published - 2004|
- Lyapunov direct method
- structure controller
- stochastic control
- control systems