A note on the energy-shaping control applied to mechanical systems: A pendulum example

https://doi.org/10.58571/CNCA.AMCA.2023.002

Resumen: This article employs a pedagogical approach to provide graphical evidence for visualizing an energy-shaping control methodology applied to a class of mechanical systems. The principal objective of this graphical evidence is to corroborate that the proposed control law leads to a desired closed-loop system with a Hamiltonian structure. An important attribute of the desired closed-loop system is that allow us to achieve various control objectives and design criteria. A brief summary of the energy-shaping plus damping injection control methodology is explained. Finally an illustrative example of a simple pendulum applying this graphical evidence is presented.

¿Cómo citar?

Cervantes-Pérez, Luis; Santibanez, Victor; Sandoval, Jesus; Kelly, Rafael, Gerardo. A note on the energy-shaping control applied to mechanical systems: A pendulum example. Memorias del Congreso Nacional de Control Automático, pp. 181-186, 2023. https://doi.org/10.58571/CNCA.AMCA.2023.002

Palabras clave

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