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TECHNICAL PAPERS

Block Control Principle for Mechanical Systems

[+] Author and Article Information
Vadim I. Utkin

Department of Electrical Engineering, The Ohio State University, Columbus, OH 43210e-mail: utkin@ee.eng.ohio-state.edu

De-Shiou Chen

Software and Calibration Tools Dept., Powertrain Operations Engine Engineering, Ford Motor Company, Dearborn, MI 48121e-mail: dchen10@ford.com

Hao-Chi Chang

Department of Mechanical Engineering, The Ohio State University, Columbus, OH 43210e-mail: chang@rcltel.eng.ohio-state.edu

J. Dyn. Sys., Meas., Control 122(1), 1-10 (Nov 02, 1998) (10 pages) doi:10.1115/1.482422 History: Received November 02, 1998
Copyright © 2000 by ASME
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References

Figures

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The rotational inverted pendulum system
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Hardware setup configuration of the pendulum system
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Simulation results by LQR
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Simulation results by SMC for case 1: stabilizing the pendulum
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Experimental results by SMC: no weight (case 1)
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Experimental results by SMC: sloshing water (case 1)
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Experimental results by SMC: metal bolts (case 1)
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Simulation results by SMC for case 2: stabilizing both the pendulum and the base
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Experimental results by SMC with small δ: no weight (case 2)
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Experimental results by SMC with larger δ: no weight (case 2)
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Experimental results by SMC: sloshing water (case 2)
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Experimental results by SMC: metal bolts (case 2)

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