Predication by extrapolation: an application of computer algebra in control
Predication by extrapolation: an application of computer algebra in control
- Author(s): P.J. Larcombe
- DOI: 10.1049/cp:19960748
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- Author(s): P.J. Larcombe Source: UKACC International Conference on Control. Control '96, 1996 p. 1344 – 1349
- Conference: UKACC International Conference on Control. Control '96
- DOI: 10.1049/cp:19960748
- ISBN: 0 85296 666 0
- Location: Exeter, UK
- Conference date: 2-5 Sept. 1996
- Format: PDF
Concerns the identification of the analytic controllability properties of a multilink inverted pendulum. This can be done using low-order versions of the system (that is, those with few links). By extrapolating such results it is then possible to make some meaningful assertions on controllability for the more general case, and whilst the analysis is not fully symbolic in all parameters, it is presented in the light of prior work and demonstrates the kind of insight to which algebraic computation can lead. Very little literature exists on the control of the multilink system. The article is an extension of the work of Larcombe et al. (1994) on the quadrupole pendulum.
Inspec keywords: extrapolation; algebra; controllability; nonlinear control systems
Subjects: Algebra; Nonlinear control systems; Control system analysis and synthesis methods; Interpolation and function approximation (numerical analysis)
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