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Control of mechanical systems with constraints: two pendulums case study

A method for control of mechanical systems under phase constrains, applicable to energy control of Hamiltonian systems is proposed. The constrained energy control problem for two pendulums by a single control action is studied both analytically and numerically. It is shown that for a proper choice of penalty parameter of thw algorithm any energy level gor the one pendulum under special constrained on the energy of the other pendulum can be achieved. Simulation results confirm fast convergence rate of the algorithm.
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