Abstract
For controlling the triple inverted pendulum, a bilinear control system based on model bias separation is proposed. The bilinear controller is the integration of a conventional linear controller and a linear compensator which obtains the model bias information online, and adopts the linear compensator for the nonlinearities and uncertainties. The sufficient condition for system exponential asymptotic stability has been proved. The simulation results show the effectiveness of the proposed bilinear control strategy.
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