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Campo DC | Valor | Lengua/Idioma |
---|---|---|
dc.contributor.author | GutÍerrez FrÍas, Octavio | - |
dc.date.accessioned | 2012-04-26T19:30:11Z | - |
dc.date.available | 2012-04-26T19:30:11Z | - |
dc.date.issued | 2012-03-21 | - |
dc.identifier.other | CECyT1 | - |
dc.identifier.uri | http://www.repositoriodigital.ipn.mx/handle/123456789/3505 | - |
dc.description | Documento de investigación | es |
dc.description.abstract | In this paper, a nonlinear controller for the stabilization of the two wheels inverted pendulum is presented. Firstly, by suitable partial feedback lin- earization that allows to linearize only the actuated coordinate system, we proceed to nd a function Lya- punov in conjuntion with LaSalle's invariance principle. Based on this candidate function, we derive a stabilizing controller in such away that the closed-loop system is locally asymptotically stable around its unstable equi- librium point, with a computable domain attraction. | es |
dc.description.sponsorship | Instituto Politécnico Nacional CECyT1 | es |
dc.language.iso | en_US | es |
dc.subject | Under Actuated System | es |
dc.subject | Two Wheels Inverted Pendulum | es |
dc.subject | Lyapunov Method | es |
dc.subject | Non-Linear Control | es |
dc.title | Lyapunov Method for the Controlling of the Two Wheels Inverted pendulum | es |
dc.type | ponencia | es |
dc.description.especialidad | Interdisciplinario | es |
dc.description.tipo | es | |
Aparece en las colecciones: | Ponencias |
Ficheros en este ítem:
Fichero | Descripción | Tamaño | Formato | |
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INV-12-2011.pdf | 275.9 kB | Adobe PDF | Visualizar/Abrir |
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