역삼각형의 직립 제어에 관한 연구

A Study on the Upright Control of an Inverted Triangle

This paper presents a method for designing a control system to stand upright inverted triangle. A linearized model is obtained form the nonlinear system by Taylor series expansion and a state controller is designed based on the model. After implementing the control system which is combined control law and estimator with reference input, experiments are carried out to stand upright inverted triangle at any angluar position.