OSCILLATION CONTROL OF A PENDULUM WITH SLIDING MASS AND PERTURBATION IN THE PIVOT
Jordan Mario Alberto, Jose Luis Bonitatibus
We present a controller design based on parametric resonance concepts for a pendulum with erratic bounded motion of the support point and an actuator consisting of a sliding mass along the bar. The control algorithm is sustented on relations of potential/cinematic energy in synchronized manner according to principle of parametric resonance. In this way, the induced nonlinear oscillation of the pendulum is damped down using a generic control law. A bifurcation study is made for the Simulations and lab experiments with a prototype illustrate our approach.