Abstract:Flexible rotational inverted pendulum is an extension of Furuta inverted pendulum in which pendulum is no longer a rigid body and vibrates due to the elasticity of the flexible beam. In this paper, we design a nonlinear controller based on nonlinear frequency optimal control for swinging up and stabilization of the flexible beam by a single feedback control. This controller is solved via the stable manifold approach which is recently proposed for solving the Hamilton-Jacobi equation.
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