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- W2690203896 abstract "Abstract This paper proposes a feedback law capable of swinging up and stabilizing the cart-pendulum system. The approach uses an iterative algorithm that is typically used to construct a locally linearizing output for nonlinear control-affine systems. However, rather than computing the linearizing output, the algorithm iteratively constructs an approximate feedback form of the original system. The resulting feedback law has a large domain of attraction, which however does not extend over the upper half circle of the pendulum plane. A larger domain of attraction can be obtained by sampling the input and keeping it constant during a short sampling interval. The performance of the proposed strategy is illustrated both in simulation and experimentally on a laboratory-scale setup." @default.
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- W2690203896 date "2011-01-01" @default.
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- W2690203896 title "Stabilization of an experimental cart-pendulum system through approximate manifold decomposition" @default.
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- W2690203896 doi "https://doi.org/10.3182/20110828-6-it-1002.01168" @default.
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