Carrying an inverted pendulum on a bumpy road

DOI10.3934/DCDSB.2010.14.429MaRDI QIDQ1956540zbMATH OpenOpenAlexFDO

Authors Mari Paz Calvo, Jesús María Sanz-Serna

Publication date 22 September 2010

Published in Discrete and Continuous Dynamical Systems. Series B (Search for Journal in Brave)

Full work available at URL https://doi.org/10.3934/dcdsb.2010.14.429

zbMATH Keywords

inverted pendulumrandom impulsesstationary stochastic processesstochastic ordinary equationsstochastic stabilizationunstable equilibrium

Mathematics Subject Classification ID

Stability of solutions to ordinary differential equations (34D20) Ordinary differential equations and systems with randomness (34F05) Stochastic ordinary differential equations (aspects of stochastic analysis) (60H10) Stochastic stability in control theory (93E15)

Review text

The authors study the stabilization by means of a random impulse of an unstable equilibrium \(q=0\) of the equation \[ \frac{d^2 q}{dt^2}=-\nu \frac{dq}{dt}+\frac{l}{g}q\,, \] that describes the motion of a linearized mathematical problem with friction (\(\nu>0\) is a friction coefficient, \(l>0\) the pendulum length, \(g>0\) the acceleration of gravity and \(q\) the angle between the pendulum rod and the upward vertical axis) in the unbounded case \(0<l<\infty\). Their result extends the bounded case given by \textit{J. M. Sanz-Serna} [Stoch. Dyn. 8, No.~1, 47--57 (2008; Zbl 1146.60313)] or other more simpler cases given by \textit{P. Imkeller} and \textit{C. Lederer} [Dyn. Syst. 16, No.~1, 29--61 (2001; Zbl 1115.37329)], \textit{R. Mitchell} [Int. J. non-linear Mech. 7, 101--123 (1972; Zbl 0239.70020)] or \textit{J. M. Sanz-Serna} and \textit{A. M. Stuart} [J. Differ. Equations 155, No.~2, 262--284 (1999; Zbl 0934.34047)]. The paper contains some auxiliary results (Lemma 2.1, Lemma 2.2 and Lemma 2.5) for the associated Markov chain extending some similar results given in [Sanz-Serna and Stuart, loc. cit.]. The main result is given in Theorem 3.1 which shows almost sure exponential stability. As in [\textit{A. I. Ovseevich}, Prikl. Mat. Mekh. 70, No.~5, 844--851 (2006); translation in J. Appl. Math. Mech. 70, No.~5, 762--768 (2006; Zbl 1126.70345)] or [Sanz-Serna loc. cit.], the authors use a sequence of changes of variables in the spirit of the method of averaging. Some numerical simulations are presented.

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Cited in

(2)

• Higher-order averaging, formal series and numerical integration. I: B-series
• Improved condition for stabilization of controlled inverted pendulum under stochastic perturbations

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