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

DOI10.1155/2010/162875zbMath1211.93060WikidataQ58652938 ScholiaQ58652938MaRDI QIDQ980561

Juan Carlos Martínez-García, Carlos Fernando Aguilar-Ibáñez, Oscar Octavio Gutiérrez-Frías, 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 design; inverted pendulum; vibration damping; Lyapunov-based approach; proportional derivative linear controller

Mathematics Subject Classification ID

93C10: Nonlinear systems in control theory

93D05: Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory

70Q05: Control of mechanical systems