Dynamics of simple balancing models with time-delayed switching feedback control
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Publication:453736
DOI10.1007/S00332-011-9111-4zbMATH Open1250.93066arXiv1104.1446OpenAlexW3102880612MaRDI QIDQ453736FDOQ453736
Authors: Rachel Kuske, Yue-Xian Li, D. J. W. Simpson 
Publication date: 27 September 2012
Published in: Journal of Nonlinear Science (Search for Journal in Brave)
Abstract: Time-delayed control in a balancing problem may be a nonsmooth function for a variety of reasons. In this paper we study a simple model of the control of an inverted pendulum by either a connected movable cart or an applied torque for which the control is turned off when the pendulum is located within certain regions of phase space. Without applying a small angle approximation for deviations about the vertical position, we see structurally stable periodic orbits which may be attracting or repelling. Due to the nonsmooth nature of the control, these periodic orbits are born in various discontinuity-induced bifurcations. Also we show that a coincidence of switching events can produce complicated periodic and aperiodic solutions.
Full work available at URL: https://arxiv.org/abs/1104.1446
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