Book chapters by Gawthrop in 2011

[1] P.J. Gawthrop and F. Rizwi. Coaxially coupled inverted pendula: Bond graph-based modelling, design and control. In Wolfgang Borutzky, editor, Bond Graph Modelling of Engineering Systems, pages 179--194. Springer New York, 2011. [ bib | DOI ]
A bond graph method is used to examine qualitative aspects of a class of unstable under-actuated mechanical systems. It is shown that torque actuation leads to an unstabilisable system, whereas velocity actuation gives a controllable system which has, however, a right-half plane zero. The fundamental limitations theory of feedback control when a system has a right-half plane zero and a right-half plane pole is used to evaluate the desirable physical properties of coaxially coupled inverted pendula. An experimental system which approximates such a system is used to illustrate and validate the approach.

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