TY  - JOUR
TI  - Power-based modelling and control: experimental results on a cart-pole double
inverted pendulum
AB  - This paper is concerned with the modeling framework based on power and control for a mechanical system
that has nonlinear, unstable, and under-actuated characteristic features, based on an analogy, which is developed by
using the Brayton and Moser’s (BM) equations between mechanical and electrical systems. The analogy is based on a
mixed-potential function generalized for BM. The mixed-potential function for a cart - pole double inverted pendulum
(CPDIP) system is used as a new building block for modeling, analysis, and controller design. The analogy allows for
the exact transfer of results from electrical circuit synthesis and analysis to the mechanical domain. This paper focuses
mainly on the development of the electrical equivalent circuit of CPDIP inspired by the power-based modeling framework.
In this brief, a real time CPDIP experimental setup was modeled by using this framework and a linear quadratic regulator
(LQR) controller was designed for the stabilization of the system. Experimental results validated that this framework
can be used as a new and advantageous modeling method and is a convenient and practical alternative to the Lagrangian
framework.
AU  - YAREN, Tuğçe
AU  - KİZİR, Selçuk
DO  - 10.3906/elk-2006-68
PY  - 2021
JO  - Turkish Journal of Electrical Engineering and Computer Sciences
VL  - 29
IS  - 3
SN  - 1300-0632
SP  - 1736
EP  - 1750
DB  - TRDizin
UR  - http://search/yayin/detay/523560
ER  -