Furuta′s Pendulum: A Conservative Nonlinear Model for Theory and Practise
J. Á. Acosta
Source abstract
Furuta′s pendulum has been an excellent benchmark for the automatic control community in the last years, providing, among others, a better understanding of model‐based Nonlinear Control Techniques. Since most of these techniques are based on invariants and/or integrals of motion then, the dynamic model plays an important role. This paper describes, in detail, the successful dynamical model developed for the available laboratory pendulum. The success relies on a basic dynamical model derived from Classical Mechanics which has been augmented to compensate the non-conservative torques. Thus, the quasi-conservative “practical” model developed allows to design all the controllers as if the system was strictly conservative . A survey of all the nonlinear controllers designed and experimentally tested on the available laboratory pendulum is also reported.
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