MOSQUERA MENA, MARCELO EFRÉN

Preferred name
MOSQUERA MENA, MARCELO EFRÉN
Main Affiliation
TCQ - Grupo de Investigación en Tecnologías de la Computación Cuántica
Web Site
Scopus Author ID
60139200100

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    Item type:Publication,
    Mathematical Model of an Inverted Pendulum with Two Degrees of Rotation
    (Springer Nature Switzerland, 2025)
    MOSQUERA MENA, MARCELO EFRÉN  
    ;
    FREIRE CARRERA, FAUSTO RODRIGO  
    The mathematical modeling and control of the inverted pendulum is a fairly extended case study due to the nonlinearity of the system, its inherent instability in the equilibrium position and sensitivity to external disturbances. Numerous variations of this problem exist, as well as approaches for obtaining the model and the design of control strategies. This work proposes the derivation of the mathematical model for a variant of the inverted pendulum capable of rotating about two axes, mounted at the end of a five-bar mechanism. The approach involves certain simplifications and a strategy to decompose the mechanism into decoupled subsystems, resulting in a linearized mathematical model for a subsystem corresponding to each possible rotation of the inverted pendulum.