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

This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Submitted: 2025-02-19; Published: 2025-02-19

This work is licensed under Creative Commons Attribution–NonCommercial International License (CC BY-NC 4.0).

Abstract

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.