Remarks on stability of inverted pendula

• Author(s): Caiado, M. I. ; Sarychev, A. V.
• Date: 2005
• Persistent ID: http://hdl.handle.net/1822/11402
• Origin: RepositóriUM - Universidade do Minho
• Subject(s): Lyapunov stability of ODE; Averaging method; Asymptotic singular perturbations, methods (ODE); ODE in connection with control problems
• Document Type: Article
• Language: English

Description

Using linearization principle and tools from chronological calculus one establishes a criteria for stabilization of, usually unstable, equilibrium position of Double Inverted Pendula when subject an arbitrary fast oscillation. Both, planar and spherical cases are considered.