Strong structural controllability and the multilink inverted pendulum

Christopher Bowden, William Holderbaum, Victor M. Becerra

    Research output: Contribution to journalArticlepeer-review


    This technical note investigates the controllability of the linearized dynamics of the multilink inverted pendulum as the number of links and the number and location of actuators changes. It is demonstrated that, in some instances, there exist sets of parameter values that render the system uncontrollable and so usual methods for assessing controllability are difficult to employ. To assess the controllability, a theorem on strong structural controllability for single-input systems is extended to the multiinput case.
    Original languageEnglish
    Pages (from-to)2891-2896
    Number of pages6
    JournalIEEE Transactions on Automatic Control
    Issue number11
    Publication statusPublished - 1 Nov 2012


    • Controllability, graph theory, inverted pendulum, linear systems, strong structural controllability.


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