ON THE OPTIMAL STABILIZATION OF A DOUBLE MATHEMATICAL PENDULUM HAVING A MOVABLE SUSPENSION CENTER

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ON THE OPTIMAL STABILIZATION OF A DOUBLE MATHEMATICAL PENDULUM HAVING A MOVABLE SUSPENSION CENTER Smbat Shahinyan

The problem of optimal stabilizatioin of a double pendulum, when its suspension center moved in the horizontal direction according to the given law, has been treated. The problem was reduced to the case of a linear nonuniform system that was solved in the event when the first and the second pendulums had equal masses and lengths. An optimal Lyapunov function and an optimal control action have been constructed.

DOI: 10.46991/PYSUA.2011.45.3.031 Physical and Mathematical Sciences, 45(3 (226) 31-39

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Keywords

driven double pendulum, optimal stabilization, equations of motion, Lagrange's equations, Lyapunov function, Lyapunov–Bellman method

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