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dc.contributor.advisorYun, Xiaoping
dc.contributor.advisorCalusdian, James
dc.contributor.authorBradford, Ellen M.
dc.dateJun-17
dc.date.accessioned2017-08-14T16:47:23Z
dc.date.available2017-08-14T16:47:23Z
dc.date.issued2017-06
dc.identifier.urihttp://hdl.handle.net/10945/55574
dc.descriptionApproved for public release; distribution is unlimiteden_US
dc.description.abstractThe inverted pendulum, a popular problem of study, is presented in many textbooks as a nonminimum phase system. The majority of control algorithms for this problem include linearizing the system about a fixed operating point. In this thesis, a nonlinear form of control is considered. A model for the rotary inverted pendulum system was derived and validated by comparing simulations using the derived equations to experimental data. The system parameters were tuned until the simulation and experimental data fit. A feedback linearization controller was then designed based on the model derived. The simulated implementation of the feedback linearization was successful but indicated continuous motion of the system. The experimental results of the feedback linearization controller were less successful than simulations. The simulated results also indicated unstable zero dynamics of the system, which were characterized and confirmed to be unstable. Finally, an intuitive fix was applied to add terms to the feedback linearization controller to account for the zero dynamics. The results of this controller in simulation were successful but did not produce a substantially different response in the experimental systemen_US
dc.description.urihttp://archive.org/details/nonlinearfeedbac1094555574
dc.publisherMonterey, California: Naval Postgraduate Schoolen_US
dc.rightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.en_US
dc.titleNonlinear feedback control of the rotary inverted pendulumen_US
dc.typeThesisen_US
dc.contributor.departmentElectrical and Computer Engineering (ECE)
dc.subject.authorinverted pendulumen_US
dc.subject.authornonlinear feedbacken_US
dc.subject.authorzero dynamicsen_US
dc.description.serviceEnsign, United States Navyen_US
etd.thesisdegree.nameMaster of Science in Electrical Engineeringen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineElectrical Engineeringen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US


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