Bowden, C., Holderbaum, W. ORCID: https://orcid.org/0000-0002-1677-9624 and Becerra, V. M.
(2012)
Strong structural controllability and the multilink 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.
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Item Type | Article |
URI | https://reading-clone.eprints-hosting.org/id/eprint/31434 |
Item Type | Article |
Refereed | Yes |
Divisions | Life Sciences > School of Biological Sciences > Department of Bio-Engineering |
Uncontrolled Keywords | Controllability, graph theory, inverted pendulum, linear systems, strong structural controllability. |
Publisher | IEEE Control Systems Society |
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