Titlebook: Non-linear Control for Underactuated Mechanical Systems; Isabelle Fantoni,Rogelio Lozano Book 2002 Springer-Verlag London 2002 Control.Con

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Isabelle Fantoni,Rogelio LozanoWill help the reader to gain experience in the modelling of mechanical systems and familiarise with new control methods for non-linear systems.Deals with the application of modern control theory to so

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978-1-4471-1086-6Springer-Verlag London 2002

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The cart-pole system,The inverted pendulum is one of the most popular laboratory experiments used for illustrating non-linear control techniques. This system is motivated by applications such as the control of rockets and the antiseismic control of buildings.

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A convey-crane system,Based on the results of control of the inverted pendulum on a cart presented in Chapter 3, we propose a control law of a convey-crane, which transports a load suspended from a cart minimizing the oscillations of the load. The technique has also been presented in [18].

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The pendubot system,The two-link underactuated robotic mechanism called the pendubot is used for research in non-linear control and for education in various concepts like non-linear dynamics, robotics and control system design.

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