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Side-Stepping of the Triple Pendulum on a Cart

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Published on Jul 19, 2011

Triple Pendulum on a Cart
Side-stepping

Two-degrees-of-freedom design:
Constrained feedforward based on the nonlinear model
vs.
Flatness-based feedforward control on the linearized model
with optimal feedback control

TU Vienna ACIN CDS http://www.acin.tuwien.ac.at/

Done by Andreas Eder and Tobias Glück

http://users.acin.tuwien.ac.at/tglueck/

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