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

DOI10.1155/2010/162875MaRDI QIDQ980561zbMATH OpenOpenAlexWikidataFDO

Authors Carlos Aguilar-Ibañez, Oscar Octavio Gutiérrez-Frías, J. C. Martínez-García, Bernardo Gómez-González, Rubén A. Garrido Moctezuma

Publication date 29 June 2010

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1155/2010/162875

zbMATH Keywords

controller designinverted pendulumLyapunov-based approachproportional derivative linear controllervibration damping

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

Review text

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.

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Cites work

• Adaptive output feedback control of nonlinear systems represented by input-output models
• scientific article; zbMATH DE number 3786164 (Why is no real title available?)
• Lyapunov-based controller for the inverted pendulum cart system
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Cited in

(5)

• PD control for vibration attenuation in a physical pendulum with moving mass
• Robust sliding mode control for tokamaks
• Proportional derivative control with inverse dead-zone for pendulum systems
• Modeling and vibration control for a flexible pendulum inverted system based on a PDE observer
• On damping properties of a frictionless physical pendulum with a moving mass

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