{"@context":{"@vocab":"https://cir.nii.ac.jp/schema/1.0/","rdfs":"http://www.w3.org/2000/01/rdf-schema#","dc":"http://purl.org/dc/elements/1.1/","dcterms":"http://purl.org/dc/terms/","foaf":"http://xmlns.com/foaf/0.1/","prism":"http://prismstandard.org/namespaces/basic/2.0/","cinii":"http://ci.nii.ac.jp/ns/1.0/","datacite":"https://schema.datacite.org/meta/kernel-4/","ndl":"http://ndl.go.jp/dcndl/terms/","jpcoar":"https://github.com/JPCOAR/schema/blob/master/2.0/"},"@id":"https://cir.nii.ac.jp/crid/1390282679481355904.json","@type":"Article","productIdentifier":[{"identifier":{"@type":"DOI","@value":"10.9746/sicetr1965.13.425"}},{"identifier":{"@type":"NDL_BIB_ID","@value":"1847798"}},{"identifier":{"@type":"URI","@value":"http://id.ndl.go.jp/bib/1847798"}},{"identifier":{"@type":"URI","@value":"https://ndlsearch.ndl.go.jp/books/R000000004-I1847798"}},{"identifier":{"@type":"URI","@value":"https://www.jstage.jst.go.jp/article/sicetr1965/13/5/13_5_425/_pdf"}},{"identifier":{"@type":"NAID","@value":"130003789327"}},{"identifier":{"@type":"NAID","@value":"20000299531"}}],"dc:title":[{"@language":"en","@value":"Postural Control of the Inverted Pendulum"},{"@language":"ja","@value":"倒立振子の姿勢制御"},{"@value":"倒立振子の姿勢制御--質量の横方向移動による安定化"},{"@language":"ja-Kana","@value":"トウリツ フリコ ノ シセイ セイギョ シツリョウ ノ オウ ホウコウ イドウ"}],"dcterms:alternative":[{"@language":"en","@value":"Stabilization by Moving Weight Horizontally"},{"@language":"ja","@value":"質量の横方向移動による安定化"}],"description":[{"type":"abstract","notation":[{"@language":"en","@value":"This paper presents a stabilization control of inherently unstable systems in their nature. An inverted pendulum which is a typical, unstable mechanical system, is considered and stabilized by moving a weight horizontally through a feedback control. A stabilization problem in this system coresponds to that in the postural control of a man.<br>It is shown that, so far as the dry friction at the bearings etc. is negligible, this inverted pendulum is stabilizable when the linearized system is controlable and observable. At the experiment, the output, the weight position <i>r</i> and the pendulum angle θ, and the estimated state (<i>r</i>, θ) by a minimum order observer or an approximate differentiator are fed back. Experimental results show that stabilization was posible in spite of the existence of the dry friction at the bearings etc.."}],"abstractLicenseFlag":"disallow"}],"creator":[{"@id":"https://cir.nii.ac.jp/crid/1410009221324793088","@type":"Researcher","personIdentifier":[{"@type":"NRID","@value":"9000254278965"}],"foaf:name":[{"@language":"en","@value":"KANOH Hideaki"},{"@language":"ja","@value":"嘉納 秀明"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Faculty of Engineering, Osaka University"},{"@language":"ja","@value":"大阪大学工学部"}]},{"@id":"https://cir.nii.ac.jp/crid/1410009221324793089","@type":"Researcher","personIdentifier":[{"@type":"NRID","@value":"9000254278966"}],"foaf:name":[{"@language":"en","@value":"MASUBUCHI Masami"},{"@language":"ja","@value":"増淵 正美"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Faculty of Engineering, Osaka University"},{"@language":"ja","@value":"大阪大学工学部"}]},{"@id":"https://cir.nii.ac.jp/crid/1410009221324793090","@type":"Researcher","personIdentifier":[{"@type":"NRID","@value":"9000254278964"},{"@type":"NRID","@value":"9000007666027"},{"@type":"RESEARCHMAP","@value":"https://researchmap.jp/read0178694"}],"foaf:name":[{"@language":"en","@value":"HAYASHI Setsuya"},{"@language":"ja","@value":"林 節八"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Faculty of Engineering, Osaka University"},{"@language":"ja","@value":"大阪大学工学部"}]}],"publication":{"publicationIdentifier":[{"@type":"PISSN","@value":"04534654"},{"@type":"LISSN","@value":"04534654"},{"@type":"EISSN","@value":"18838189"},{"@type":"NDL_BIB_ID","@value":"000000006577"},{"@type":"ISSN","@value":"04534654"},{"@type":"NCID","@value":"AN00072392"}],"prism:publicationName":[{"@language":"en","@value":"Transactions of the Society of Instrument and Control Engineers"},{"@language":"ja","@value":"計測自動制御学会論文集"},{"@language":"en","@value":"Transaction of SICE"},{"@language":"en","@value":"Transactions of the Society of Instrument and Control Engineers"},{"@language":"en","@value":"TSICE"},{"@language":"ja","@value":"計測自動制御学会論文集"},{"@language":"ja","@value":"計測論文"},{"@language":"ja","@value":"ＳＩＣＥ論文誌"},{"@language":"ja","@value":"ＳＩＣＥ論文集"},{"@language":"ja","@value":"計制論"},{"@language":"ja","@value":"制御論文"},{"@language":"en","@value":"T. SICE"}],"dc:publisher":[{"@language":"en","@value":"The Society of Instrument and Control Engineers"},{"@language":"ja","@value":"公益社団法人 計測自動制御学会"}],"prism:publicationDate":"1977","prism:volume":"13","prism:number":"5","prism:startingPage":"425","prism:endingPage":"432"},"reviewed":"false","dcterms:accessRights":"http://purl.org/coar/access_right/c_abf2","url":[{"@id":"http://id.ndl.go.jp/bib/1847798"},{"@id":"https://ndlsearch.ndl.go.jp/books/R000000004-I1847798"},{"@id":"https://www.jstage.jst.go.jp/article/sicetr1965/13/5/13_5_425/_pdf"}],"availableAt":"1977","relatedProduct":[{"@id":"https://cir.nii.ac.jp/crid/1390001204679342336","@type":"Article","relationType":["isCitedBy"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Cooperative Behavior of a Mechanically Unstable Mobile Robot for Object Transportation."},{"@value":"構造的に不安定な移動ロボットの協調行動による物体の運搬"},{"@language":"ja-Kana","@value":"コウゾウテキ ニ フアンテイ ナ イドウ ロボット ノ キョウチョウ コウドウ ニ ヨル ブッタイ ノ ウンパン"}]},{"@id":"https://cir.nii.ac.jp/crid/1390282681303974272","@type":"Article","relationType":["isCitedBy"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Control of an Inverted Pendulum for Maintaining the State of Inversion Based on the Reference Trajectory."},{"@value":"参照軌道による倒立振子の倒立維持制御"},{"@language":"ja-Kana","@value":"サンショウ キドウ ニ ヨル トウリツ フリコ ノ トウリツ イジ セイギョ"}]},{"@id":"https://cir.nii.ac.jp/crid/1390282681304209280","@type":"Article","relationType":["isCitedBy"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Positioning Control of Flexible Inverted Pendulum Using Frequency-Dependent Optimal Servo System."},{"@value":"周波数依存型最適サーボ系によるフレキシブル倒立振子の位置決め制御"},{"@language":"ja-Kana","@value":"シュウハスウ イゾンガタ サイテキ サーボケイ ニ ヨル フレキシブル トウリツ フリコ ノ イチギメ セイギョ"}]},{"@id":"https://cir.nii.ac.jp/crid/1520009407449993216","@type":"Article","relationType":["isCitedBy"],"jpcoar:relatedTitle":[{"@value":"Zero Dynamicsを利用した倒立振子型二輪ロボットの高速移動制御"},{"@language":"ja-Kana","@value":"Zero Dynamics オ リヨウシタ トウリツ フリコガタ 2リン ロボット ノ コウソク イドウ セイギョ"}]},{"@id":"https://cir.nii.ac.jp/crid/1520009410050061568","@type":"Article","relationType":["isCitedBy"],"jpcoar:relatedTitle":[{"@value":"倒立振子型ロボットの高速移動制御"},{"@language":"ja-Kana","@value":"トウリツ フリコガタ ロボット ノ コウソク イドウ セイギョ"}]},{"@id":"https://cir.nii.ac.jp/crid/1520572360007087872","@type":"Article","relationType":["isCitedBy"],"jpcoar:relatedTitle":[{"@value":"倒立振子型移動ロボットの高速運動制御"},{"@language":"ja-Kana","@value":"トウリツ フリコガタ イドウ ロボット ノ コウソク ウンドウ セイギョ"}]},{"@id":"https://cir.nii.ac.jp/crid/1520853832448070016","@type":"Article","relationType":["isCitedBy"],"jpcoar:relatedTitle":[{"@value":"Zero Dynamicsを利用する倒立振子の高速移動制御"},{"@language":"ja-Kana","@value":"Zero Dynamics オ リヨウ スル トウリツ フリコ ノ コウソク イドウ セイギョ"}]},{"@id":"https://cir.nii.ac.jp/crid/1520853835138830208","@type":"Article","relationType":["isCitedBy"],"jpcoar:relatedTitle":[{"@value":"ジャイロを用いた倒立振子の制御"},{"@language":"ja-Kana","@value":"ジャイロ オ モチイタ トウリツ フリコ ノ セイギョ"}]}],"dataSourceIdentifier":[{"@type":"JALC","@value":"oai:japanlinkcenter.org:0034374688"},{"@type":"NDL_SEARCH","@value":"oai:ndlsearch.ndl.go.jp:R000000004-I1847798"},{"@type":"CROSSREF","@value":"10.9746/sicetr1965.13.425"},{"@type":"CIA","@value":"130003789327"},{"@type":"CIA","@value":"20000299531"},{"@type":"OPENAIRE","@value":"doi_dedup___::1a3322834c4a3a43ef5ad61c7c922bcd"}]}