Swinging up the spherical pendulum via stabilization of its first integrals.

DOI10.1016/j.automatica.2003.07.009zbMath1037.70015MaRDI QIDQ1426265

H. Ludvigsen, Olav Egeland, Shiriaev, Anton S.

Publication date: 14 March 2004

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2003.07.009

zbMATH Keywords

passivity; control of first integrals

Mathematics Subject Classification ID

93D15: Stabilization of systems by feedback

70Q05: Control of mechanical systems

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