Lyapunov-based PD linear control of the oscillatory behavior of a nonlinear mechanical system: the inverted physical pendulum with moving mass case (Q980561): Difference between revisions
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scientific article
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English | Lyapunov-based PD linear control of the oscillatory behavior of a nonlinear mechanical system: the inverted physical pendulum with moving mass case |
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Lyapunov-based PD linear control of the oscillatory behavior of a nonlinear mechanical system: the inverted physical pendulum with moving mass case (English)
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29 June 2010
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Summary: 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.
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vibration damping
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inverted pendulum
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proportional derivative linear controller
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controller design
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Lyapunov-based approach
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