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Stabilization of Rotational Modes for the Furuta Pendulum

Publiceringsår: 2001
Språk: Engelska
Publikation/Tidskrift/Serie: Nonlinear Control Systems 2001
Dokumenttyp: Konferensbidrag
Förlag: Elsevier


This paper deals with the construction and orbital stabilization of periodic solutions for a particular underactuated mechanical system with 2 degrees of freedom, the Furuta pendulum. It is shown that if a desired periodic motion is described by constraints imposed on the total energy of the system and on the value of the directly actuated variable, then this periodic motion can be constructed and stabilized by a particular feedback.



  • Technology and Engineering
  • Furuta pendulum
  • V-detectability
  • stabilization of periodic orbit



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