Sub-Optimal Stabilizers of the Pendubot Using Various State Space Representations

Sub-Optimal Stabilizers of the Pendubot Using Various State Space Representations

This paper considers the issue of linear-quadratic regulator (LQR) design for nonlinear systems with the use of smooth state and input transformations. The proposed design methodology is considered in the stabilisation task of the Pendubot, which is based on the concept of feedback equivalent contro...

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Bibliographic Details
Main Authors: Dariusz Pazderski, Paweł Parulski, Patryk Bartkowiak, Przemysław Herman
Format: Article
Language:English
Published: MDPI AG 2022-07-01
Series:Energies
Subjects:
nonlinear systems
underactuated systems
Pendubot
model transformation
quasi-velocities
stabilization methods
Online Access:https://www.mdpi.com/1996-1073/15/14/5146

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https://www.mdpi.com/1996-1073/15/14/5146

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