{"id":"https://openalex.org/W1978428107","doi":"https://doi.org/10.1109/acc.2014.6858724","title":"A feedback linearization controller for trajectory tracking of the Furuta pendulum","display_name":"A feedback linearization controller for trajectory tracking of the Furuta pendulum","publication_year":2014,"publication_date":"2014-06-01","ids":{"openalex":"https://openalex.org/W1978428107","doi":"https://doi.org/10.1109/acc.2014.6858724","mag":"1978428107"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2014.6858724","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2014.6858724","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 American Control Conference","raw_type":"proceedings-article"},"type":"article","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/A5007728434","display_name":"Carlos Aguilar-Avelar","orcid":"https://orcid.org/0000-0001-5516-7391"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Carlos Aguilar-Avelar","raw_affiliation_strings":["Instituto Polit\u00e9cnico Nacional-CITEDI, Av. del Parque 1310, Mesa de Otay, Tijuana, B.C., Mexico","Inst. Politec. Nac.-CITEDI, Tijuana, Mexico"],"affiliations":[{"raw_affiliation_string":"Instituto Polit\u00e9cnico Nacional-CITEDI, Av. del Parque 1310, Mesa de Otay, Tijuana, B.C., Mexico","institution_ids":["https://openalex.org/I59361560"]},{"raw_affiliation_string":"Inst. Politec. Nac.-CITEDI, Tijuana, Mexico","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002712538","display_name":"Javier Moreno\u2013Valenzuela","orcid":"https://orcid.org/0000-0003-0670-5979"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Javier Moreno-Valenzuela","raw_affiliation_strings":["Instituto Polit\u00e9cnico Nacional-CITEDI, Av. del Parque 1310, Mesa de Otay, Tijuana, B.C., Mexico","Inst. Politec. Nac.-CITEDI, Tijuana, Mexico"],"affiliations":[{"raw_affiliation_string":"Instituto Polit\u00e9cnico Nacional-CITEDI, Av. del Parque 1310, Mesa de Otay, Tijuana, B.C., Mexico","institution_ids":["https://openalex.org/I59361560"]},{"raw_affiliation_string":"Inst. Politec. Nac.-CITEDI, Tijuana, Mexico","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5007728434"],"corresponding_institution_ids":["https://openalex.org/I59361560"],"apc_list":null,"apc_paid":null,"fwci":1.2173,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.8148642,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"35","issue":null,"first_page":"4543","last_page":"4548"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9984999895095825,"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":0.9984999895095825,"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":0.9980999827384949,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9936000108718872,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/furuta-pendulum","display_name":"Furuta pendulum","score":0.9110231399536133},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8556153178215027},{"id":"https://openalex.org/keywords/double-pendulum","display_name":"Double pendulum","score":0.6779888868331909},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.6173022389411926},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.6080496311187744},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5628317594528198},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.5371150970458984},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5198678970336914},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.5077689290046692},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5019576549530029},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.44119542837142944},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42525649070739746},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2805722951889038},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.22384512424468994},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18824785947799683},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18497270345687866},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09190908074378967}],"concepts":[{"id":"https://openalex.org/C191601290","wikidata":"https://www.wikidata.org/wiki/Q5509824","display_name":"Furuta pendulum","level":5,"score":0.9110231399536133},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8556153178215027},{"id":"https://openalex.org/C167183279","wikidata":"https://www.wikidata.org/wiki/Q1243208","display_name":"Double pendulum","level":4,"score":0.6779888868331909},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.6173022389411926},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.6080496311187744},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5628317594528198},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.5371150970458984},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5198678970336914},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.5077689290046692},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5019576549530029},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.44119542837142944},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42525649070739746},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2805722951889038},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.22384512424468994},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18824785947799683},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18497270345687866},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09190908074378967},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2014.6858724","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2014.6858724","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 American Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.8100000023841858}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1560858199","https://openalex.org/W1601803999","https://openalex.org/W1988004583","https://openalex.org/W1989276044","https://openalex.org/W2019820755","https://openalex.org/W2024890395","https://openalex.org/W2053973063","https://openalex.org/W2159673225","https://openalex.org/W2162097612","https://openalex.org/W4205362845","https://openalex.org/W4292408404","https://openalex.org/W6655352165"],"related_works":["https://openalex.org/W2153316627","https://openalex.org/W2370363061","https://openalex.org/W1486280215","https://openalex.org/W2293658407","https://openalex.org/W2735097297","https://openalex.org/W1514557259","https://openalex.org/W2117024129","https://openalex.org/W2095020630","https://openalex.org/W2101631287","https://openalex.org/W2167653684"],"abstract_inverted_index":{"A":[0],"Furuta":[1],"pendulum":[2,19,26,93,112],"is":[3,27,47,75,85,95,137],"a":[4,18,60,86,128,149],"two":[5],"degrees-of-freedom":[6],"mechanism":[7],"consisting":[8],"of":[9,38,59],"an":[10],"arm":[11,31,46,83,106],"rotating":[12,20],"in":[13,21,35,52,56,125],"the":[14,22,30,36,45,57,64,67,72,81,91,101,105,111,117,133],"horizontal":[15],"plane":[16],"and":[17,71,90],"vertical":[23],"plane.":[24],"The":[25,33,49,139],"attached":[28],"to":[29,148],"tip.":[32],"complexity":[34],"control":[37,123],"this":[39,53,99,126],"system":[40],"relies":[41],"on":[42,132],"that":[43,63,104,122],"only":[44],"actuated.":[48],"problem":[50],"addressed":[51],"paper":[54],"consists":[55],"design":[58],"controller":[61,130],"such":[62],"difference":[65],"between":[66],"desired":[68,82,92],"joint":[69],"position":[70,84,94],"actual":[73],"one":[74],"uniformly":[76],"ultimately":[77],"bounded.":[78],"In":[79],"particular,":[80],"time":[87],"varying":[88],"signal":[89],"zero.":[96],"Roughly":[97],"speaking,":[98],"has":[100,142],"physical":[102],"meaning":[103],"should":[107,113],"be":[108,114],"moving":[109],"while":[110],"kept":[115],"at":[116],"upward":[118],"position.":[119],"To":[120],"satisfy":[121],"goal,":[124],"document":[127],"new":[129,140],"based":[131],"feedback":[134],"linearization":[135],"technique":[136],"introduced.":[138],"scheme":[141],"been":[143],"experimentally":[144],"compared":[145],"with":[146],"respect":[147],"known":[150],"algorithm.":[151]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
