Lyapunov's direct method for stabilization of the Furuta pendulum

Authors

TÜRKER TÜRKER
HALUK GÖRGÜN
GALİP CANSEVER

DOI

10.3906/elk-1007-653

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

First Page

99

Last Page

110

Recommended Citation

TÜRKER, TÜRKER; GÖRGÜN, HALUK; and CANSEVER, GALİP (2012) "Lyapunov's direct method for stabilization of the Furuta pendulum," Turkish Journal of Electrical Engineering and Computer Sciences: Vol. 20: No. 1, Article 8. https://doi.org/10.3906/elk-1007-653
Available at: https://journals.tubitak.gov.tr/elektrik/vol20/iss1/8