Stabilisation and motion control of unstable objects (Q495521)

The monograph consists of 5 parts and 17 chapters. Part I. Devices containing a single-link pendulum. Ch. 1. A pendulum with stationary pivot. Ch. 2. A pendulum with wheel-based pivot. Ch. 3. A pendulum with a flywheel. Ch. 4. Wheel rolling control by means of a pendulum. Ch. 5. Optimal swinging and damping of a swing. Ch. 6. Pendulum control that minimizes energy consumption. Part II. Double physical pendulum. Ch. 7. Local stabilization of an inverted pendulum by means of a single control torque. Ch. 8. Optimal control design for swinging and dumping a double pendulum. Ch. 9. Global stabilization of an inverted pendulum controlled by torque in the inter-link joint. Ch. 10. Global stabilization of an inverted pendulum controlled by torque in the pivot. Ch. 11. Multi-link pendulum on a moving base. Part III. Ball on a beam. Ch. 12 Stabilization of a ball on a straight beam. Ch. 13. Stabilization of a ball on a curvilinear beam. Part IV. Gyroscopic stabilization of a two-wheel bicycle. Ch. 14. Bicycle design. Ch. 15. Designing control law to stabilize the bicycle tilt. Part V. Avoiding undesired vibrations. Ch. 16. Bang-bang control and fluent control. Ch. 17. Trapezoidal control for a system with compliant elements. The monograph is the translation into English of the Russian version of 1974 [Zbl 0289.93008] with an additional new chapter (Ch. 5). The list of the chapters gives a comprehensive idea of the monograph's content. It will be useful for researchers and engineers working in scientific areas related to control theory, robotics, mechatronics, as well as in mechanical and automotive engineering.