Strong structural controllability and the multi-link inverted pendulum

Bowden, C., Holderbaum, W. ORCID: https://orcid.org/0000-0002-1677-9624 and Becerra, V. (2012) Strong structural controllability and the multi-link inverted pendulum. IEEE Transactions on Automatic Control, 57 (11). pp. 2891-2896. ISSN 0018-9286 doi: 10.1109/TAC.2012.2191180

Abstract/Summary

This technical note investigates the controllability of the linearized dynamics of the multilink inverted pendulum as the number of links and the number and location of actuators changes. It is demonstrated that, in some instances, there exist sets of parameter values that render the system uncontrollable and so usual methods for assessing controllability are difficult to employ. To assess the controllability, a theorem on strong structural controllability for single-input systems is extended to the multiinput case.