Remarks on stability of inverted pendula

Using linearization principle and tools from chronological calculus one establishes a criteria for stabilization of, usually unstable, equilibrium position of Double Inverted Pendula when subject an arbitrary fast oscillation. Both, planar and spherical cases are considered.

Bibliographic Details
Main Author: Caiado, M. I. (author)
Other Authors: Sarychev, A. V. (author)
Format: article
Language:eng
Published: 2005
Subjects:
Lyapunov stability of ODE
Averaging method
Asymptotic singular perturbations, methods (ODE)
ODE in connection with control problems
Online Access:http://hdl.handle.net/1822/11402
Country:Portugal
Oai:oai:repositorium.sdum.uminho.pt:1822/11402
Description
Summary:Using linearization principle and tools from chronological calculus one establishes a criteria for stabilization of, usually unstable, equilibrium position of Double Inverted Pendula when subject an arbitrary fast oscillation. Both, planar and spherical cases are considered.

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