Title:Passivity based control of a cart with inverted pendulumAuthor(s):Matthias Jörgl, Kurt Schlacher, Hubert GattringerAbstract:This contribution deals with the application of passivity based control to the laboratory model of a cart with pendulum. A non actuated rotating pendulum is fixed on an actuated cart, which moves on a skew beam. Therefore, the 2 DOFs mechanical system is nonlinear, unstable and under actuated. A controller is designed such that the upper equilibrium of the pendulum is stabilized for a given position of the cart. The controller is derived by help of Interconnection Damping Assignment Passivity Based Control. The performance of the design is demonstrated by measurement results of certain experiments.Booktitle:Optimization of the Intelligent Systems and their Applications in Aerospace, Robotics, Mechanical Engineering, Manufacturing Systems, Biomechatronics and NeurorehabilitationPublisher:TRANS TECH PUBLICATIONSEditor(s):Adrian OlaruISBN:978-3-03785-733-5Page Reference:page 339-344, 594 page(s)Publishing:2013Series:Applied Mechanics and MaterialsVolume:332