Lyapunov-based PD linear control of the oscillatory behavior of a nonlinear mechanical system: the inverted physical pendulum with moving mass case (Q980561)

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.