Research Output

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

  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.

  • Type:

    Conference Paper (unpublished)

  • Date:

    01 July 2000

  • Publication Status:

    Unpublished

  • Library of Congress:

    QA Mathematics

  • Dewey Decimal Classification:

    510 Mathematics

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, Leuven, Belgium

Authors

Keywords

Symbolic computation; automated manipulation; MATLAB; pole-zero cancellation; double inverted pendulum;

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