Stabilization of the Rotary Inverted Pendulum Using Aggregate Modeling
Kiriakos Kiriakidis, Matthew G. Feemster, Richard O'Brien · 2006
Using the method of aggregate modeling, the paper derives an approximation of the rotary pendulum's Euler-Lagrange dynamics within a specified operating region. Based on the resulting aggregate model, the authors cast the system's stabilization as a feasibility problem associated with linear matrix inequalities. Furthermore, the authors test the resulting stabilizing controller on the actual rotary pendulum and verify the expected results experimentally.