Lyapunov-Based PD Linear Control of the Oscillatory Behavior of a Nonlinear Mechanical System: The Inverted Physical Pendulum with Moving Mass Case

Lyapunov-Based PD Linear Control of the Oscillatory Behavior of a Nonlinear Mechanical System: The Inverted Physical Pendulum with Moving Mass Case

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 to...

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Bibliographic Details
Main Authors: Carlos Fernando Aguilar-Ibáñez, Oscar Octavio Gutiérrez-Frías, Juan Carlos Martínez-García, Rubén Garrido-Moctezuma, Bernardo Gómez-González
Format: Article
Language:English
Published: Hindawi Limited 2010-01-01
Series:Mathematical Problems in Engineering
Online Access:http://dx.doi.org/10.1155/2010/162875

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