Lyapunov-Based PD Linear Control of the Oscillatory Behavior of a Nonlinear Mechanical System: The Inverted Physical Pendulum with Moving Mass Case

Carlos Fernando Aguilar-Ibáñez, Oscar Octavio Gutiérrez-Frías, Juan Carlos Martínez-García, Rubén Garrido-Moctezuma and Bernardo Gómez-González

Mathematical Problems in Engineering, 2010, vol. 2010, 1-12

Abstract:

This paper concerns active vibration damping of a frictionless physical inverted pendulum with a radially moving mass. The motion of the inverted pendulum is restricted to an admissible set. The proposed Proportional Derivative linear controller damps the inverted pendulum (which is anchored by a torsion spring to keep it in a stable upright position), exerting a force on the radially moving mass. The controller design procedure, which follows a traditional Lyapunov-based approach, tailors the energy behavior of the system described in Euler-Lagrange terms.

Date: 2010
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:162875

DOI: 10.1155/2010/162875

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