Stability and control of a parametrically excited rotating system. II: Controls (Q1384039)

In Part II of this paper, the design of a feedback controller and an observer for a parametrically excited double pendulum rotating in the horizontal plane is considered. First, by using a Floquet-Lyapunov transformation the periodic system equations are transformed to a time invariant form which is suitable for an application of the standard techniques of linear control theory. A full-state feedback controller is designed in the transformed domain following the pole placement technique. Next, a Luenberger observer is constructed for estimating the unmeasurable states. Due to the fact that the measured states always contain noise, the robustness of the system is tested for the case when the data is contaminated by white noise. The robustness is also studied by changing the nominal values of the system parameters.