Title :
Stabilization of the variable-length pendulum
Author :
Navarro-Lopez, E.M. ; Fossas-Colet, E.
Author_Institution :
Inst. d´Organitzacio i Control, Univ. Politec. de Catalunya, Barcelona, Spain
Abstract :
The variable-length pendulum, proved to be nonminimum phase and non static-state-feedback linearizable, is stabilized around an equilibrium point by means of the passivity-based design control technique of Energy Shaping plus Damping Injection.
Keywords :
damping; nonlinear control systems; pendulums; stability; state feedback; damping injection; energy shaping; nonlinear system; nonminimum phase; nonstatic-state-feedback; passivity-based design control technique; variable-length pendulum stabilization; Asymptotic stability; Closed loop systems; Control design; Damping; Energy storage; Stability analysis; Dissipative and Energy-based Design; Stabilization of Non-linear systems; Variable-length pendulum;
Conference_Titel :
Control Conference (ECC), 2001 European
Conference_Location :
Porto
Print_ISBN :
978-3-9524173-6-2
