Abstract
In this paper, we consider a stabilization problem for the cart-pendulum system based on discrete mechanics, which is known as a good discretizing method for mechanical systems and has not been really applied to control theory. First, the continuous and discrete cart-pendulum systems are explained. We next propose a transformation method that converts a discrete-time input derived from the discrete-time optimal regulator theory into a continuous-time zero-order hold input, and carry out some simulations on stabilization of the cart-pendulum system by the transformation method. Then, we apply not only our proposed method but also existing methods to an experimental laboratory of the cart-pendulum system and perform some experiments in order to verify the availability of the proposed method.
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