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Computer-aided design of feedback controllers for nonlinear systems with applications to control of a double-inverted pendulum

Computer-aided design of feedback controllers for nonlinear systems with applications to control of a double-inverted pendulum

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The paper shows how the design of feedback controllers for nonlinear systems such as a doubleinverted pendulum may be formulated as an optimisation problem with infinite dimensional constraints. A double-inverted pendulum is successfully stabilised at the upright position using a CAD package based on such an optimisation algorithm.

References

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