Assessment of linear set-point controllers for a direct drive nonlinear pendulum

L. Dritsas, A. Zagorianos, A. Pantelous, V. Tsoulkas

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This paper is concerned with the design of linearset - point controllers for a specific nonlinear system: a motor driven pendulum. It is shown that when input constraints and delays are present, the synthesis procedure is non trivial. Even if the design is based on mature theoretical basis, extensive nonlinear simulations are the only practical way to ensure that the linear design offers acceptable tracking performance in a large operation range while respecting the requirements of input constraints and robustness.

Original languageEnglish
Title of host publicationProceedings - 2011 UKSim 13th International Conference on Modelling and Simulation - UKSim 2011
EditorsDavid Al-Dabass, Alessandra Orsoni, Richard Cant, Ajith Abraham
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages6
ISBN (Print)9780769543765
Publication statusPublished - 2011
Externally publishedYes
EventUKSim-AMSS International Conference on Computer Modelling and Simulation (UKSim) 2011 - Cambridge, United Kingdom
Duration: 30 Mar 20111 Apr 2011
Conference number: 13th


ConferenceUKSim-AMSS International Conference on Computer Modelling and Simulation (UKSim) 2011
Abbreviated titleUKSim 2011
Country/TerritoryUnited Kingdom


  • input constraint
  • LQR
  • nonlinear control
  • robotic manipulator
  • robustness
  • set point control
  • time delays

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