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A new swing-up law for the Furuta pendulum. (English) Zbl 1047.93027

The swinging-up problem for the Furuta pendulum is solved in the Hamiltonian formulation by means of the speed-gradient method. A dimension 4 model and an approximate dimension 2 model are derived. Control laws for these models are derived. For the dimension 4 model, an objective function consists of two terms, the energy and the arm momentum, while for the dimension 2 model the objective function depends only on the energy. Both control laws have been checked on a concrete experimental pendulum.

MSC:

93C10 Nonlinear systems in control theory
70Q05 Control of mechanical systems
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