On the application of the Ważewski method to the problem of global stabilization

DOI10.1016/J.SYSCONLE.2021.104953MaRDI QIDQ2242897zbMATH OpenOpenAlexFDO

Authors Ivan Polekhin

Publication date 10 November 2021

Published in Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1912.04027

zbMATH Keywords

Furuta pendulumLyapunov stabilitystability in the largeWażewski methodwheeled pendulum

Mathematics Subject Classification ID

Topological methods (93B24) Stabilization of systems by feedback (93D15)

Abstract: We consider a possible application of the Wa.zewski topological method to feedback control systems and to more general dynamical systems. We show how this method can be used to prove the impossibility of global stabilization in such problems. Moreover, we give sufficient conditions for the existence of a solution such that its trajectory never leaves a subset of the extended phase space of the system and does not tend asymptotically to a given equilibrium. We illustrate our result with various real-life systems including the Furuta pendulum and the wheeled inverted pendulum.

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Cited in

(2)

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