Velocity control and vibration attenuation for a cart-pendulum system with Delayed Resonators

A dynamic output feedback controller involving delays is designed for a cart - pendulum system with active and passive vibration absorption. The active vibration absorption involves a couple of Delayed Resonators feeding back the resonators´ acceleration. The active vibration cart - pendulum system is modeled here as a neutral time delay nonlinear system. The proposed design technique aims to suppress the pendulum angle variations while simultaneously to achieve forward cart velocity command following. The good performance of the proposed controller is demonstrated via computational experiments.