@article{oai:kumadai.repo.nii.ac.jp:00022973,
 author = {石飛, 光章 and Ishitobi, Mitsuaki and Kawashima, Dai and Nishi, Masatoshi and Kumon, Makoto and 石飛, 光章 and 川島, 大 and 西, 雅俊 and Kumon, Makoto and 公文, 誠},
 issue = {732},
 journal = {日本機械学會論文集. C編},
 month = {Aug},
 note = {application/pdf, 論文(Article), This paper considers swinging up of a cart-pendulum system under the presence of modeling error. We propose a control method that swings the pendulum by bringing the behavior of the pendulum to the homoclinic orbit. It is achieved by introducing a new Lyapunov function candidate. However, the cart may move too widely during the swinging of the pendulum. Hence, constraining the cart within the cart track length is also considered to solve the problem. Experimental results show the effectiveness of the proposed control method., http://ci.nii.ac.jp/naid/110006380481@@@http://www.jsme.or.jp},
 pages = {2232--2237},
 title = {ホモクリニック軌道による台車型倒立振子の振り上げ制御(機械力学,計測,自動制御)},
 volume = {73},
 year = {2007},
 yomi = {イシトビ, ミツアキ and クモン, マコト}
}