Synchronization Control Strategy of Inverted Pendulums using Control Law Partitioning and Contraction Theory
In this paper, a synchronization balancing g5210t-p90 control is proposed based on the contraction theory of stability for inverted pendulum.The control scheme is applied to balance an inverted pendulum mounted on a moving cart with two wheels.The equations of motion of the system are divided into two cascade systems using the control law partition