Disturbance Decoupling Problem for $n$-link chain pendulum on a cart system
Fuente:
arXiv
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| Autores principales: | , |
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| Formato: | Preprint |
| Publicado: |
2024
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| Acceso en línea: | |
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| _version_ | 1866910348455444480 |
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| author | Das, Sayar Patil, Deepak |
| author_facet | Das, Sayar Patil, Deepak |
| contents | A disturbance decoupling problem for a $n$-link chain pendulum on a cart is considered. A model of the cart developed in a coordinate-free framework and the linearized equations of this system are considered from [1]. It is shown that it is possible to design a suitable state feedback such that the angular position or velocity of the $n^{th}$-link can always be decoupled from the disturbance coming at the cart. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2402_19168 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Disturbance Decoupling Problem for $n$-link chain pendulum on a cart system Das, Sayar Patil, Deepak Systems and Control A disturbance decoupling problem for a $n$-link chain pendulum on a cart is considered. A model of the cart developed in a coordinate-free framework and the linearized equations of this system are considered from [1]. It is shown that it is possible to design a suitable state feedback such that the angular position or velocity of the $n^{th}$-link can always be decoupled from the disturbance coming at the cart. |
| title | Disturbance Decoupling Problem for $n$-link chain pendulum on a cart system |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2402.19168 |