• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.188-191
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• 1996

In this paper, we derive dynamic equation of double pole inverted pendulum using Lagrangian equation, and design the fuzzy sliding mode controller. We demonstrate that the designed controller regulates double pole simultaneously regardless of cart position by computer simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.144-149
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• 1993

This paper discusses a design of a nonlinear control for a class of single-input double-output nonlinear mechanical systems. When conventional linearization methods are applied to the mechanical systems, some problems of oscillation and unstable phenomena arise. The proposed nonlinear control system resolves these problems. In this design the eigenvalues of the closed-loop nonlinear system are assigned to desired locations and local asymptotic stability of the closed-loop system. is guaranteed. The design method is applied to an inverted pendulum system with a moving weight mechanism. Experimental results show that the proposed nonlinear controller is more effective for stability than the usual linear controller.