Disturbance Decoupling Problem for n-link chain pendulum on a cart system

2024/02/29 by Das, Sayar, Patil, Deepak
#FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · doi:10.48550/arxiv.2402.19168

Abstract

A disturbance decoupling problem for a n-link chain pendulum on a cart is considered. A model of the cart developed in a coordinate-free framework and the linearized equations of this system are considered from [1]. It is shown that it is possible to design a suitable state feedback such that the angular position or velocity of the n^th-link can always be decoupled from the disturbance coming at the cart.

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