Abstract
We propose a Lyapunov-function-based control for the stabilization of the under-actuated Furuta pendulum. Firstly, by a suitable partial feedback linearization that allows to linearize only the actuated coordinate of the system, we proceed to find a candidate Lyapunov function. Based on this candidate function, we derive a stabilizing controller, in such away that the closed-loop system is locally and asymptotically stable around the unstable vertical equilibrium rest, with a computable domain of attraction.
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This paper is dedicated to the memory of C. A. Ibáñez by Amantita Ibáñez C.
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Ibáñez, C.A., Azuela, J.H.S. Stabilization of the Furuta Pendulum Based on a Lyapunov Function. Nonlinear Dyn 49, 1–8 (2007). https://doi.org/10.1007/s11071-006-9099-8
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DOI: https://doi.org/10.1007/s11071-006-9099-8