Please use this identifier to cite or link to this item: http://hdl.handle.net/2440/66777
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Type: Journal article
Title: On the dynamics of the Furuta pendulum
Author: Cazzolato, B.
Prime, Z.
Citation: Journal of Control Science and Engineering, 2011; 2011:1-8
Publisher: Hindawi Publishing Corporation
Issue Date: 2011
ISSN: 1687-5249
1687-5257
Statement of
Responsibility: 
Benjamin Seth Cazzolato and Zebb Prime
Abstract: 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.
Rights: Copyright © 2011 Benjamin Seth Cazzolato and Zebb Prime. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
RMID: 0020110913
DOI: 10.1155/2011/528341
Appears in Collections:Mechanical Engineering publications
Environment Institute publications

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