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   On the dynamics of the Furuta pendulum  
   
نویسنده cazzolato b.s. ,prime z.
منبع journal of control science and engineering - 2011 - دوره : 2011 - شماره : 0
چکیده    The furuta pendulum,or rotational inverted pendulum,is a system found in many control labs. it provides a compact yet impressive platform for control demonstrations and draws the attention of the control community as a platform for the development of nonlinear control laws. despite the popularity of the platform,there are very few papers which employ the correct dynamics and only one that derives the full system dynamics. in this paper,the full dynamics of the furuta pendulum are derived using two methods: a lagrangian formulation and an iterative newton-euler formulation. approximations are made to the full dynamics which converge to the more commonly presented expressions. the system dynamics are then linearised using a jacobian. to illustrate the influence the commonly neglected inertia terms have on the system dynamics,a brief example is offered. copyright 2011 benjamin seth cazzolato and zebb prime.
آدرس school of mechanical engineering,university of adelaide,adelaide, Australia, school of mechanical engineering,university of adelaide,adelaide, Australia
 
     
   
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