Title :
Bifurcation control in an underactuated pendulum
Author :
Alonso, Diego ; Paolini, Eduardo ; Moiola, Jorge
Author_Institution :
Dept. de Ingenieria Electrica, Univ. Nacional del Sur, Bahia Blanca, Argentina
Abstract :
In this paper, a Hopf bifurcation is created by means of a state feedback in an actual underactuated pendulum, in order to obtain oscillations of prescribed amplitude. Toward this end, two different nonlinear feedback laws are designed and analyzed. Theoretical conditions for the birth of a Hopf bifurcation are derived, and the dependence of the amplitudes as a function of the feedback gains is obtained via numerical continuation of the periodic solutions. The experimental results are compared with computer simulations
Keywords :
bifurcation; nonlinear control systems; pendulums; state feedback; Hopf bifurcation; bifurcation control; feedback gains; nonlinear feedback laws; periodic solutions; prescribed amplitude; state feedback; underactuated pendulum; Bifurcation; Chaos; Councils; Delay effects; Eigenvalues and eigenfunctions; Limit-cycles; Nonlinear dynamical systems; Nonlinear systems; Stability; State feedback;
Conference_Titel :
Circuits and Systems, 2000. Proceedings. ISCAS 2000 Geneva. The 2000 IEEE International Symposium on
Conference_Location :
Geneva
Print_ISBN :
0-7803-5482-6
DOI :
10.1109/ISCAS.2000.856342
