Stabilizing a Rotary Inverted Pendulum Based on Logarithmic Lyapunov Function

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/jcse/volume-2017/4091302/figures/4091302.fig.003a.svgz" name="4091302.fig.003a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Control law <svg height="11.927pt" id="M211" style="vertical-align:-3.291101pt" version="1.1" viewbox="-0.0498162 -8.6359 60.2917 11.927" width="60.2917pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M515 96L502 119C471 88 431 62 423 62C416 62 411 70 417 101C440 223 469 341 497 448H486L412 422L380 277C330 188 210 57 152 57C137 57 126 69 139 124L195 366C210 431 205 448 182 448C155 448 89 413 23 350L36 326C73 354 103 376 112 376C118 376 118 365 113 340L61 118C54 90 52 68 52 51C52 0 75 -12 98 -12S151 -3 181 17C242 58 305 119 362 193H364L345 104C323 3 339 -12 359 -12C390 -12 464 35 515 96Z" id="g113-118"></path><glyph.data ascent="3473" 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<div>Results of stability control for vertically downward initial state.</div>

Journal of Control Science and Engineering

fig3

Figure 3

Figure 3: Stabilizing a Rotary Inverted Pendulum Based on Logarithmic Lyapunov Function 