A comprehensive approach to double inverted pendulum modelling

被引：5
|
作者：
Andrzejewski, Kamil [1 ]
Czyzniewski, Mateusz [1 ]
Zielonka, Maciej [1 ]
Langowski, RafaL [1 ]
Zubowicz, Tomasz [1 ]
机构：
[1] Gdansk Univ Technol, Dept Elect Engn Control Syst & Informat, G Narutowicza 11-12, PL-80233 Gdansk, Poland
来源：
ARCHIVES OF CONTROL SCIENCES | 2019年 / 29卷 / 03期
关键词：
double inverted pendulum; modelling; non-linear dynamics; Lagrangian mechanics; SYNCHRONIZATION; SYSTEM;
D O I：
10.24425/acs.2019.130201
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The problem of mathematical modelling and indication of properties of a DIP has been investigated in this paper. The aim of this work is to aggregate the knowledge on a DIP modelling using the Euler-Lagrange formalism in the presence of external forces and friction. To indicate the main properties important for simulation, model parameters identification and control system synthesis, analytical and numerical tools have been used. The investigated properties include stability of equilibrium points, a chaos of dynamics and non-minimum phase behaviour around an upper position. The presented results refer to the model of a physical (constructed) DIP system.
引用
收藏
页码：459 / 483
页数：25
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