Geodesic
The problem of determining the inclination angle of a pendulum on a cylinder
Russian journal of nonlinear dynamics, Tome 7 (2011) no. 4, pp. 837-844.

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The problem of determining the phase coordinates of a pendulum on a cylinder by measurements of the inclination angle of the cylinder relative to the pendulum is formulated and solved. A necessary and sufficient condition for observability is found. A linear Luenberger observer is constructed whose output variables are used to close a linear feedback control system. Numerical experiments are performed showing the possibility of using this type of control (by means of variables of the observer) in a nonlinear model of controlled motion of a pendulum on a cylinder.
Keywords: linear observer, inverted pendulum, pendulum on a cylinder, two-wheeled pendulum.
Mots-clés : Luenberger observer 
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V. N. Belotelov. The problem of determining the inclination angle of a pendulum on a cylinder. Russian journal of nonlinear dynamics, Tome 7 (2011) no. 4, pp. 837-844. http://geodesic.mathdoc.fr/item/ND_2011_7_4_a6/

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