Control of a nonaffine double-pendulum system via dynamic inversion and time-scale separation

Amanda Young, Chengyu Cao, Naira Hovakimyan, Eugene Lavretsky

Research output: Chapter in Book/Report/Conference proceedingConference contribution


A new method is presented for control of nonaffine double pendulum system via dynamic inversion and time-scale separation. The control signal is defined as a solution of "fast" dynamics, and the coupled system is shown to be stable using the framework of Tikhonov's theorem from singular perturbations theory. Simulations illustrate the theoretical results.

Original languageEnglish (US)
Title of host publicationProceedings of the 2006 American Control Conference
Number of pages6
StatePublished - Dec 1 2006
Externally publishedYes
Event2006 American Control Conference - Minneapolis, MN, United States
Duration: Jun 14 2006Jun 16 2006

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2006 American Control Conference
Country/TerritoryUnited States
CityMinneapolis, MN

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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