[1] 
P.J. Gawthrop and F. Rizwi.
Coaxially coupled inverted pendula: Bond graphbased modelling,
design and control.
In Wolfgang Borutzky, editor, Bond Graph Modelling of
Engineering Systems, pages 179194. Springer New York, 2011.
[ bib 
DOI ]
A bond graph method is used to examine qualitative aspects of a class of unstable underactuated mechanical systems. It is shown that torque actuation leads to an unstabilisable system, whereas velocity actuation gives a controllable system which has, however, a righthalf plane zero. The fundamental limitations theory of feedback control when a system has a righthalf plane zero and a righthalf 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.

This file was generated by bibtex2html 1.98.