Embedded model control for underactuated systems: An application to Furuta pendulum

Acuña-Bravo, 2017, Embedded model control, performance limits : A case study, DYNA, 84, 267, 10.15446/dyna.v84n201.59165 Aguilar-Avelar, 2015, A composite controller for trajectory tracking applied to the Furuta pendulum, ISA Transactions, 57, 286, 10.1016/j.isatra.2015.02.009 Aguilar-Ibáñez, 2007, Stabilization of the furuta pendulum based on a Lyapunov function, Nonlinear Dynamics, 49, 1, 10.1007/s11071-006-9099-8 Albahkali, 2009, Swing-up control of the pendubot: An impulse-momentum approach, IEEE Transactions on Robotics, 25, 975, 10.1109/TRO.2009.2022427 Åström, 2000, Swinging up a pendulum by energy control, Automatica, 36, 287, 10.1016/S0005-1098(99)00140-5 Canuto, 2012, Embedded model control calls for disturbance modeling and rejection, ISA Transactions, 51, 584, 10.1016/j.isatra.2012.04.002 Canuto, 2018, Embedded model control: Reconciling modern control theory and error-based control design, Control Theory and Technology, 16, 261, 10.1007/s11768-018-8130-1 Canuto, 2018, Spacecraft dynamics and control: The embedded model control approach Chen, 2020, Nonlinear control of underactuated systems subject to both actuated and unactuated state constraints with experimental verification, IEEE Transactions on Industrial Electronics, 67, 7702, 10.1109/TIE.2019.2946541 Duarte Madrid, 2020, MPC in space state for the control of a furuta pendulum, 219 Fantoni, 2002, Stabilization of the Furuta pendulum around its homoclinic orbit, International Journal of Control, 75, 390, 10.1080/0020717011011226 Mori, 1976, Control of unstable mechanical system control of pendulum †, International Journal of Control, 23, 673, 10.1080/00207177608922192 Ordaz, 2014, Research on swing up control based on energy for the pendubot system, Journal of Dynamic Systems, Measurement, and Control, 136, 10.1115/1.4026658 Pujol, 2010, Stabilization of the Furuta Pendulum with backlash using Hinf-LMI technique: Experimental validation, Asian Journal of Control, 12, 460, 10.1002/asjc.202 Ramírez-Neria, 2014, Linear active disturbance rejection control of underactuated systems: The case of the Furuta pendulum, ISA Transactions, 53, 920, 10.1016/j.isatra.2013.09.023 Yang, 2018, Swing-up and stabilization control design for an underactuated rotary inverted pendulum system: Theory and experiments, IEEE Transactions on Industrial Electronics