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Title
Japanese: 
English:Switching output utilizing time-varying output finction - Applyign to standing posture control of Acrobot- 
Author
Japanese: 関口 和真, 三平 満司.  
English: Kazuma Sekiguchi, Mitsuji Sampei.  
Language English 
Journal/Book name
Japanese: 
English:Proceedings of SICE Annual Conference 2011 
Volume, Number, Page         pp. 395-400
Published date Sept. 13, 2011 
Publisher
Japanese: 
English:The Society of Instrument and Control Engineers (SICE) 
Conference name
Japanese: 
English:SICE Annual Conference 2011 
Conference site
Japanese:東京 
English:Tokyo 
Abstract This paper considers a posture control of Acrobot system via modifying output with time varying function. Posturte control from one equilibrium to another is realized by switching two output functions. Proposed method is to connect two outputs with time-varying function. Time-varying function is designed to keep some smoothness of the outputs at the connections. This enables output ot keep zero value, and then, transient dynamics is written as a simple form and easy to be analyzed.

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