Control of a Perturbed Pendulum with Sliding Mass by Means of a Parametric-Resonance-Based Principle

JORDAN, MARIO ALBERTO; BONITATIBUS, JOSE LUIS; MURUA, CLAUDIO DANIEL

Santiago de Cuba, Cuba

Conferencia; International Conference of the Faculty of Electrical Engineering, FIE’06; 2006

Universidad de Oriente, Santiago de Cuba, Cuba

The paper aims to design a control system based on parametric resonance concepts in the Floquet Theory for a perturbed pendulum through the support point. Accordingly the pendulum is constructed with a sliding mass in order to change relations of potential/cinematic energy in synchronized manner. In this form the induced nonlinear oscillation of the pendulum is damped down using a generic control law. Simulations and lab experiments with a prototype illustrate our approach.