Research Article | OPEN ACCESS
Systems Variables and Structural Controllability: An Inverted Pendulum Case
1Qiang Ma and 2Xiao-Quan Li
1School of Mechanical and Automotive Engineering, Hubei University of
Arts and Science, XiangYang, China
2Department of Automobile Engineering, ChengDe Petroleum College, Cheng De, China
Research Journal of Applied Sciences, Engineering and Technology 2013 21:4016-4021
Received: January 25, 2013 | Accepted: March 07, 2013 | Published: November 20, 2013
Abstract
In order to explore the essence of structural controllability, structural controllability of inverted pendulum is analyzed in this presented study and a sufficient controllability condition of a class of perturbed linear system is obtained, which is essential to prove the structural controllability for the perturbed inverted pendulum. Two different structured models of inverted pendulum are constructed. Structural controllability of both cases are discussed and compared, which shows that the usual model used in controller design for inverted pendulum is just a special case of normal model for inverted pendulum.
Keywords:
Perturbed linear system, Rational Functions Matrix with multi-parameter (RFM), structural controllability, system variable,
Competing interests
The authors have no competing interests.
Open Access Policy
This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.
Copyright
The authors have no competing interests.
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ISSN (Online): 2040-7467
ISSN (Print): 2040-7459 |
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