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Digital balancing of systems with backlash

Kollar, László E., Stepan, G. and Turi, J. (2002) Digital balancing of systems with backlash. Decision and Control, 2002, Proceedings of the 41st IEEE Conference on, 3. pp. 3106-3111. ISSN 0191-2216

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Abstract

In the paper the dynamics of an inverted pendulum on a cart is investigated assuming backlash and time delays. The upper equilibrium of the pendulum is stabilized by control force which is provided by a motor driving the wheels of the cart through an elastic teeth belt. The contact between the teeth of the gear (rigid) and the belt (elastic) introduces a nonlinearity known as "backlash" and causes the oscillation of the controlled pendulum around its upper equilibrium.

Item Type: Article
Additional Information: Paper presented at 41st IEEE CONFERENCE ON DECISION AND CONTROL, December 10-13,2002, Las Vegas, Nevada, USA
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Schools: School of Computing and Engineering
Depositing User: Cherry Edmunds
Date Deposited: 14 Nov 2012 13:33
Last Modified: 14 Nov 2012 13:33
URI: http://eprints.hud.ac.uk/id/eprint/16068

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