Lyapunov`s direct method for stabilization of the Furuta pendulum

Authors : Türker TÜRKER, Haluk GÖRGÜN, Galip CANSEVER

Pages : 99-110

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Publication Date : 0000-00-00

Article Type : Research Paper

Abstract :This paper presents a novel stabilization result for the Furuta pendulum for a large region of attraction including almost all of the upper half plane. The solution is obtained via constructing a Lyapunov function after set of coordinate changes. Then, a set of differential equations are solved to achieve asymptotic stability which is proved in accordance with La Salle`s invariance principle. The effectiveness of the proposed stabilization method is illustrated with simulation studies.
Keywords : Lyapunov based control, furuta pendulum