Nonlinear feedback control of chaotic pendulum in presence of saturation effect. (English) Zbl 1142.93342

Summary: A feedback linearization control is applied to control a chaotic pendulum system. Tracking the desired periodic orbits such as period-one, period-two, and period-four orbits is efficiently achieved. Due to the presence of saturation in real world control signals, the stability of controller is investigated in presence of saturation and sufficient stability conditions are obtained. At first feedback linearization control law is designed, then to avoid the singularity condition, a saturating constraint is applied to the control signal. The stability conditions are obtained analytically. These conditions must be investigated for each specific case numerically. Simulation results show the effectiveness and robustness of proposed controller. A major advantage of this method is its shorter chaotic transient time in compare to other methods such as OGY and Pyragas controllers.


93B52 Feedback control
93C85 Automated systems (robots, etc.) in control theory
37D45 Strange attractors, chaotic dynamics of systems with hyperbolic behavior
93C10 Nonlinear systems in control theory
93B51 Design techniques (robust design, computer-aided design, etc.)
Full Text: DOI


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