Accessibility navigation

Strong structural controllability and the multi-link inverted pendulum

Bowden, C., Holderbaum, W. 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

Full text not archived in this repository.

It is advisable to refer to the publisher's version if you intend to cite from this work. See Guidance on citing.

To link to this item DOI: 10.1109/TAC.2012.2191180


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
Divisions:Life Sciences > School of Biological Sciences > Department of Bio-Engineering
ID Code:26520
Uncontrolled Keywords:inverted pendulum

University Staff: Request a correction | Centaur Editors: Update this record

Page navigation