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Strong structural controllability and the multilink inverted pendulum

Bowden , C., Holderbaum, W. 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

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To link to this item 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.

Item Type:Article
Refereed:Yes
Divisions:Faculty of Life Sciences > School of Biological Sciences > Department of Bio-Engineering
ID Code:31434
Uncontrolled Keywords:Controllability, graph theory, inverted pendulum, linear systems, strong structural controllability.
Publisher:IEEE Control Systems Society

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