DC FieldValueLanguage
dc.contributor.authorMandić, Petaren
dc.contributor.authorLazarević, Mihailoen
dc.contributor.authorSekara, Tomislaven
dc.contributor.authorCajić, Milanen
dc.contributor.authorBučanović, Ljubišaen
dc.date.accessioned2020-04-26T19:36:39Z-
dc.date.available2020-04-26T19:36:39Z-
dc.date.issued2017-07-12en
dc.identifier.isbn978-150904656-0en
dc.identifier.urihttp://researchrepository.mi.sanu.ac.rs/handle/123456789/622-
dc.description.abstractIn this paper stability problem of double inverted pendulum controlled by a fractional differential compensator is investigated. Pendubot is an underactuated mechanical system, i.e. it has only one control input and two degrees of freedom. Detailed mathematical model of Pendubot is derived using the Rodriguez method and then fractional order lead compensator is introduced in order to stabilize it around unstable upright position. D-decomposition method is used to solve the problem of asymptotic stability of closed loop system. Stability regions in control parameters space are calculated using this technique, which allows tuning of the fractional differential compensator to be carried out.en
dc.publisherIEEE-
dc.relationIntelligent Control Systems of the Air-conditioning for the Purpose of Achieving Energy Efficient Exploitation Regimes in the Complex Operating Conditions-
dc.relationDynamics of hybrid systems with complex structures. Mechanics of materials.-
dc.relationEnergy efficiency Improvement of Hydro and Thermal power plants in EPS by development and implementation of power electronics based regulation and automation equipment-
dc.relationSustainability and improvement of mechanical systems in energetic, material handling and conveying by using forensic engineering, environmental and robust design-
dc.relation.ispartofProceedings of the 29th Chinese Control and Decision Conference, CCDC 2017en
dc.subjectAsymptotic stability | D-decomposition | Fractional control | Inverted pendulum | Pendubot | Robust controlen
dc.titleStabilization of double inverted pendulum system by using a fractional differential compensatoren
dc.typeConference Paperen
dc.relation.conference29th Chinese Control and Decision Conference, CCDC 2017; Kingworld HotelChongqing; China; 28 May 2017 through 30 May 2017-
dc.identifier.doi10.1109/CCDC.2017.7978829en
dc.identifier.scopus2-s2.0-85028043123en
dc.relation.firstpage1911en
dc.relation.lastpage1916en
item.cerifentitytypePublications-
item.openairetypeConference Paper-
item.fulltextNo Fulltext-
item.grantfulltextnone-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
crisitem.author.orcid0000-0001-5513-0417-
crisitem.project.funderNIH-
crisitem.project.projectURLhttp://www.mi.sanu.ac.rs/novi_sajt/research/projects/174001e.php-
crisitem.project.fundingProgramNATIONAL CANCER INSTITUTE-
crisitem.project.openAireinfo:eu-repo/grantAgreement/NWO/null/2300174001-
crisitem.project.openAireinfo:eu-repo/grantAgreement/NIH/NATIONAL CANCER INSTITUTE/3R01CA135006-05S1-
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