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Fast Convergent Stabilization and Tracking Controller Design for X-Z Inverted Pendulum
Abstract
X-Z inverted pendulum is a new kind of inverted pendulum which can move with the combination of the horizontal and vertical forces. This paper explores the problem of stabilization and tracking control for X-Z inverted pendulum. Firstly, through a kind of transformation, the X-Z pendulum inverted system is decomposed into three simple models, and a virtual controller is designed for the transformed system. At last a fast convergent controller is designed to achieve finite time convergence.
Keywords
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