Actuator placement in the multi-link inverted pendulum

C. Bowden, W. Holderbaum, V. Becerra

    Research output: Chapter in Book/Report/Conference proceedingConference contribution


    The problem of locating actuators in the multi-link inverted pendulum is considered. Two open-loop measures, namely the distance to uncontrollability and a measure of dynamic coupling, as well as a closed-loop measure based on simulation under LQR control are considered separately as measures to aid the choice of actuator placement. It is observed that it is not in general possible to find a single actuator configuration that will be optimal with respect to all of these measures and that a trade off between them is inevitable. The open-loop and closed-loop measures are thus combined in a weighted sum to give a single measure. The choice of actuator configuration for a given number of actuators is then made based on this measure.
    Original languageEnglish
    Title of host publicationUKACC International Conference on Control 2010
    PublisherIET Conference Publications
    ISBN (Electronic)9781846000386
    Publication statusPublished - 1 Sept 2010


    • actuators
    • closed loop systems
    • linear quadratic control
    • nonlinear control systems
    • open loop systems
    • pendulums
    • LQR control
    • actuator configuration
    • actuator placement
    • closed-loop measures
    • dynamic coupling
    • multi-link inverted pendulum
    • open-loop measures
    • uncontrollability
    • Closed-loop
    • Controllability
    • Multiobjective optimization
    • Open-loop
    • System design


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