DYNAMIC BEHAVIOR OF AN INVERTED PENDULUM WITH BOUNDED CONTROL

Svetoslav Nikolov; Valentin Nedev

Scientific paper ID 846 : 2013/3

DYNAMIC BEHAVIOR OF AN INVERTED PENDULUM WITH BOUNDED CONTROL

Svetoslav Nikolov, Valentin Nedev

In this paper, a conventional inverted pendulum with an inertia disk in its free extreme is considered. The system is actuated by means of torques applied to the disk by a DC motor mounted on the pendulum’s arm. The system is underactuated since the pendulum can rotate freely around its pivot point. The dynamical model of this system is given with three ordinary nonlinear differential equations. The dynamics of model is analysed using Poincare-Andronov-Hopf theory. Our analysis reveals the complex behavior of the model. We compute the occurrence of a limit cycle. It is shown that analytical results agree with numerical simulations.

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обърнато махало ограничен контрол динамично поведениеinverted pendulum bounded control dynamical behavior (обърнато махало ограничен контрол динамично поведение)Svetoslav Nikolov Valentin Nedev

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