%0 Journal Article
%T Variable structure controller for an inverted pendulum<br>倒立摆系统的变结构控制方案
%A Yao Li-n
%A WANG Hong
%A ZHOU Jing-lin
%A YUE Hong
%A <br>姚利娜
%A 王　宏
%A 周靖林
%A 岳　红
%J 控制理论与应用
%D 2004
%I 
%X Using the Lyapunov direct method,a variable structure controller is proposed for the stabilization and robust control of a single inverted pendulum.Theoretical analysis and computer simulations have illustrated that this control scheme can stabilize the pendulum,control the cart displacement and also realize the robust control when the system is subjected to parameter changes.
%K single inverted pendulum
%K variable structure control
%K Lyapunov direct method<br>单级倒立摆
%K 变结构控制
%K 李雅普诺夫直接法
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=A7E1AD10331F5024&yid=D0E58B75BFD8E51C&vid=659D3B06EBF534A7&iid=94C357A881DFC066&sid=94655B9881133A28&eid=0EE24608F5763811&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=3&reference_num=13