A Computational Investigation of Pole-Zero Cancellation for a Double Inverted Pendulum System.

Woodham, C A; Su, H

Abstract

Modern symbolic computational systems which perform automated manipulation
of algebraic variables offer insights into a variety of mathematical
problems. This work uses the symbolic manipulation toolbox available in
MATLAB to investigate pole-zero cancellation of the uncontrollable double
inverted pendulum algebraically, following exploratory numerical
computation. The ability of the software to factorise complicated
multi-variable polynomials is exploited to identify, in algebraic form, the
anticipated pole-zero term cancelling throughout the transfer functions of
the uncontrollable pendulum system. This problem has been considered with respect to the force on the trolley, for which it is a conditionally
uncontrollable problem, and with respect to each of the torques on the arms,
which are unconditionally uncontrollable problems. Pole-zero cancellation
for the triple inverted pendulum system is currently under consideration.

Citation

Woodham, C. A., & Su, H. (2000, July). A Computational Investigation of Pole-Zero Cancellation for a Double Inverted Pendulum System. Paper presented at ICCAM 2000

• Presentation Conference Type: Conference Paper (unpublished)
• Conference Name: ICCAM 2000
• Start Date: Jul 1, 2000
• End Date: Jul 1, 2000
• Publication Date: 2000
• Deposit Date: Jun 5, 2015
• Publicly Available Date: Jun 5, 2015
• Peer Reviewed: Peer Reviewed
• Keywords: Symbolic computation; automated manipulation; MATLAB; pole-zero cancellation; double inverted pendulum
• Public URL: http://researchrepository.napier.ac.uk/id/eprint/8366