Evaluation of Linearization Methods for Control of the Pendubot

Abstract

The aim of this paper is to test the usefulness of a new approach based on partial feedback linearization to control the Pendubot. The control problem stated in the article is to stabilize the Pendubot in the upright position. In particular, properties of the closed-loop system and the zero dynamics are investigated and illustrated by results of simulations. Next, the performance of a hybrid-like controller in the case of input saturation is evaluated by conduction extensive simulation trails. The experimental results suggest that the considered control methodology can be successfully applied for a real system.

Keywords

• control of mechanical systems
• differential geometry
• linearization