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Proceedings of the Yerevan State University, series Physical and Mathematical Sciences, 2011, Issue 3, Pages 31–39 (Mi uzeru190)  
Mechanics

On the optimal stabilization of a double mathematical pendulum having a movable suspension center

S. G. Shahinyan, G. N. Kirakosyan

Chair of Mechanics YSU, Armenia
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Abstract: The problem of optimal stabilizatioin of a double pendulum, when its suspension center moved in the horizontal direction according to the given law, has been treated. The problem was reduced to the case of a linear nonuniform system that was solved in the event when the first and the second pendulums had equal masses and lengths. An optimal Lyapunov function and an optimal control action have been constructed.
Keywords: driven double pendulum, optimal stabilization, equations of motion, Lagrange's equations, Lyapunov function, Lyapunov–Bellman method.
Received: 29.03.2011
Accepted: 29.04.2011
Document Type: Article
Language: English
Citation: S. G. Shahinyan, G. N. Kirakosyan, “On the optimal stabilization of a double mathematical pendulum having a movable suspension center”, Proceedings of the YSU, Physical and Mathematical Sciences, 2011, no. 3, 31–39
Citation in format AMSBIB
\Bibitem{ShaKir11}
\by S.~G.~Shahinyan, G.~N.~Kirakosyan
\paper On the optimal stabilization of a double mathematical pendulum having a movable suspension center
\jour Proceedings of the YSU, Physical and Mathematical Sciences
\yr 2011
\issue 3
\pages 31--39
\mathnet{http://mi.mathnet.ru/uzeru190}
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