{"id":"https://openalex.org/W2169611046","doi":"https://doi.org/10.1109/acc.2006.1656481","title":"Experimental results for almost global asymptotic and locally exponential stabilization of the natural equilibria of a 3D pendulum","display_name":"Experimental results for almost global asymptotic and locally exponential stabilization of the natural equilibria of a 3D pendulum","publication_year":2006,"publication_date":"2006-01-01","ids":{"openalex":"https://openalex.org/W2169611046","doi":"https://doi.org/10.1109/acc.2006.1656481","mag":"2169611046"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2006.1656481","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2006.1656481","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2006 American Control Conference","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5111631695","display_name":"Nalin A. Chaturvedi","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"N.A. Chaturvedi","raw_affiliation_strings":["Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081893178","display_name":"Mario Santillo","orcid":"https://orcid.org/0000-0001-9152-4747"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M.A. Santillo","raw_affiliation_strings":["Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018682629","display_name":"N. Harris McClamroch","orcid":"https://orcid.org/0000-0002-7536-5659"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"N.H. McClamroch","raw_affiliation_strings":["Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009770702","display_name":"Dennis S. Bernstein","orcid":"https://orcid.org/0000-0003-0399-3039"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D.S. Bernstein","raw_affiliation_strings":["Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"40","issue":null,"first_page":"6 pp.","last_page":"6 pp."},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.7846043109893799},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7707107067108154},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.6205025911331177},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5596625804901123},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.5536231398582458},{"id":"https://openalex.org/keywords/equilibrium-point","display_name":"Equilibrium point","score":0.4736807644367218},{"id":"https://openalex.org/keywords/exponential-function","display_name":"Exponential function","score":0.4601266086101532},{"id":"https://openalex.org/keywords/output-feedback","display_name":"Output feedback","score":0.42850804328918457},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3874453902244568},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3557257056236267},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2549192011356354},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.2268291413784027},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1952860951423645},{"id":"https://openalex.org/keywords/economics","display_name":"Economics","score":0.08888468146324158},{"id":"https://openalex.org/keywords/differential-equation","display_name":"Differential equation","score":0.06793108582496643}],"concepts":[{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.7846043109893799},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7707107067108154},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.6205025911331177},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5596625804901123},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.5536231398582458},{"id":"https://openalex.org/C94766913","wikidata":"https://www.wikidata.org/wiki/Q1530271","display_name":"Equilibrium point","level":3,"score":0.4736807644367218},{"id":"https://openalex.org/C151376022","wikidata":"https://www.wikidata.org/wiki/Q168698","display_name":"Exponential function","level":2,"score":0.4601266086101532},{"id":"https://openalex.org/C3018623182","wikidata":"https://www.wikidata.org/wiki/Q154021","display_name":"Output feedback","level":3,"score":0.42850804328918457},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3874453902244568},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3557257056236267},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2549192011356354},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.2268291413784027},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1952860951423645},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.08888468146324158},{"id":"https://openalex.org/C78045399","wikidata":"https://www.wikidata.org/wiki/Q11214","display_name":"Differential equation","level":2,"score":0.06793108582496643},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2006.1656481","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2006.1656481","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2006 American Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W169946747","https://openalex.org/W1558112763","https://openalex.org/W1565451376","https://openalex.org/W1995096839","https://openalex.org/W2041521369","https://openalex.org/W2063973166","https://openalex.org/W2145222502","https://openalex.org/W2149145472","https://openalex.org/W2159317210","https://openalex.org/W2163455386","https://openalex.org/W2298085263","https://openalex.org/W6681987259"],"related_works":["https://openalex.org/W1978738522","https://openalex.org/W2095028518","https://openalex.org/W2377228964","https://openalex.org/W2059311322","https://openalex.org/W2536963663","https://openalex.org/W2057482994","https://openalex.org/W1989732506","https://openalex.org/W1988317900","https://openalex.org/W2115648193","https://openalex.org/W2382677675"],"abstract_inverted_index":{"Feedback":[0],"controllers":[1,57],"that":[2],"guarantee":[3,39,61],"asymptotic":[4],"stabilization":[5,32],"of":[6,15],"either":[7],"the":[8,12,16,25,45,50,71,76],"hanging":[9],"equilibrium":[10,14,51],"or":[11],"inverted":[13],"3D":[17],"pendulum":[18],"are":[19,36,58],"presented":[20],"and":[21,66],"experimentally":[22],"evaluated":[23],"using":[24],"triaxial":[26],"attitude":[27],"control":[28],"testbed":[29],"(TACT).":[30],"Asymptotic":[31],"results":[33,74],"obtained":[34],"previously":[35],"shown":[37],"to":[38,60],"almost":[40,62],"global":[41,63],"response":[42,47,64,69],"properties,":[43],"but":[44],"local":[46,68],"properties":[48,65],"near":[49,70],"show":[52],"non-exponential":[53],"convergence.":[54],"These":[55],"feedback":[56,83],"modified":[59],"improved":[67],"equilibrium.":[72],"Experimental":[73],"illustrate":[75],"closed":[77],"loop":[78],"time":[79],"responses":[80],"for":[81],"various":[82],"controllers.":[84]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
