Abstract

RUBIO, J. de Jesús; FIGUEROA, M.; PEREZ CRUZ, J. H.  and  YOE RUMBO, J.. Control para estabilizar y atenuar las perturbaciones en un péndulo invertido rotatorio. Rev. mex. fís. E [online]. 2012, vol.58, n.2, pp.107-112. ISSN 1870-3542.

This paper presents the combination of the following two methods to stabilize and to attenuate the disturbances of a rotatory inverted pendulum: 1) The disturbance is rejected using the structure at infinity method if there exist a control function such that, the transfer function of the outputs and the disturbances is null, forcing the system to have a behavior free of disturbances. 2) It is guaranteed that the controlled system is stable by equating the polynomial of the controlled system and a desired stable polynomial, forcing the system to follow a stable behavior.

Keywords : Disturbance rejection control; pole placement control; rotatory inverted pendulum.

        · abstract in Spanish     · text in Spanish     · Spanish ( pdf )