@inproceedings{c6f7215f18f546d6a0f73b83a676dc51,
title = "Stabilization of Rotary Inverted Pendulum via an Improved Fully Actuated System Approach with Velocity Damping Injection",
abstract = "We investigate the stabilization of the rotary inverted pendulum (RIP) through a novel fully actuated system (FAS) approach. Implementing this approach solely for the pendulum subsystem results in unstable zero dynamics of the rotary arm. To address this, we propose an improved FAS approach that injects velocity damping into the baseline controller. Then, a Lyapunov-based analysis is conducted to guarantee the asymptotic stability of the system. Furthermore, the controller parameters are optimized through an LMI-driven strategy with the objective of maximizing the domain of attraction. A numerical simulation based on the Quanser device parameters demonstrates the effectiveness of our proposed method, achieving stabilization from an initial pendulum angle of 0.5 rad (≈ 28.65°).",
keywords = "fully actuated system (FAS) approach, nonlinear systems, Rotary inverted pendulum (RIP), stabilization, zero dynamics",
author = "Xujie Zhang and Guangren Duan",
note = "Publisher Copyright: {\textcopyright} 2026 IEEE.; 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026 ; Conference date: 22-05-2026 Through 24-05-2026",
year = "2026",
doi = "10.1109/FASTA70174.2026.11548808",
language = "英语",
series = "Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "206--210",
booktitle = "Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026",
address = "美国",
}