Inducing oscillations in an inertia wheel pendulum via two-relays controller: Theory and experiments

Luis T. Aguilar; Igor Boiko; Leonid Fridman; Leonid Freidovich

doi:10.1109/ACC.2009.5159827

Inducing oscillations in an inertia wheel pendulum via two-relays controller: Theory and experiments

Luis T. Aguilar, Igor Boiko, Leonid Fridman, Leonid Freidovich

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

8 Scopus citations

Abstract

A tool for generating a self-excited oscillations for an inertia wheel pendulum by means of a variable structure controller is proposed. The original system is transformed into the normal form for exact linearization. The design procedure, based on Describing Function (DF) method, allows for finding the explicit expressions of the two-relays controller gain parameters in terms of the desired frequency and amplitude. Necessary condition for orbital asymptotic stability of the output of the exactly linearized system is derived. Performance issues of the system with self-excited oscillations are validated with experiments.

Original language	English
Title of host publication	2009 American Control Conference, ACC 2009
Pages	65-70
Number of pages	6
DOIs	https://doi.org/10.1109/ACC.2009.5159827
State	Published - 2009
Externally published	Yes
Event	2009 American Control Conference, ACC 2009 - St. Louis, MO, United States Duration: 10 Jun 2009 → 12 Jun 2009

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Conference

Conference	2009 American Control Conference, ACC 2009
Country/Territory	United States
City	St. Louis, MO
Period	10/06/09 → 12/06/09

Access to Document

10.1109/ACC.2009.5159827

Cite this

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title = "Inducing oscillations in an inertia wheel pendulum via two-relays controller: Theory and experiments",

abstract = "A tool for generating a self-excited oscillations for an inertia wheel pendulum by means of a variable structure controller is proposed. The original system is transformed into the normal form for exact linearization. The design procedure, based on Describing Function (DF) method, allows for finding the explicit expressions of the two-relays controller gain parameters in terms of the desired frequency and amplitude. Necessary condition for orbital asymptotic stability of the output of the exactly linearized system is derived. Performance issues of the system with self-excited oscillations are validated with experiments.",

author = "Aguilar, {Luis T.} and Igor Boiko and Leonid Fridman and Leonid Freidovich",

year = "2009",

doi = "10.1109/ACC.2009.5159827",

language = "Ingl{\'e}s",

isbn = "9781424445240",

series = "Proceedings of the American Control Conference",

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booktitle = "2009 American Control Conference, ACC 2009",

note = "2009 American Control Conference, ACC 2009 ; Conference date: 10-06-2009 Through 12-06-2009",

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Aguilar, LT, Boiko, I, Fridman, L & Freidovich, L 2009, Inducing oscillations in an inertia wheel pendulum via two-relays controller: Theory and experiments. in 2009 American Control Conference, ACC 2009., 5159827, Proceedings of the American Control Conference, pp. 65-70, 2009 American Control Conference, ACC 2009, St. Louis, MO, United States, 10/06/09. https://doi.org/10.1109/ACC.2009.5159827

Inducing oscillations in an inertia wheel pendulum via two-relays controller: Theory and experiments. / Aguilar, Luis T.; Boiko, Igor; Fridman, Leonid et al.
2009 American Control Conference, ACC 2009. 2009. p. 65-70 5159827 (Proceedings of the American Control Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Boiko, Igor

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AU - Freidovich, Leonid

PY - 2009

Y1 - 2009

N2 - A tool for generating a self-excited oscillations for an inertia wheel pendulum by means of a variable structure controller is proposed. The original system is transformed into the normal form for exact linearization. The design procedure, based on Describing Function (DF) method, allows for finding the explicit expressions of the two-relays controller gain parameters in terms of the desired frequency and amplitude. Necessary condition for orbital asymptotic stability of the output of the exactly linearized system is derived. Performance issues of the system with self-excited oscillations are validated with experiments.

AB - A tool for generating a self-excited oscillations for an inertia wheel pendulum by means of a variable structure controller is proposed. The original system is transformed into the normal form for exact linearization. The design procedure, based on Describing Function (DF) method, allows for finding the explicit expressions of the two-relays controller gain parameters in terms of the desired frequency and amplitude. Necessary condition for orbital asymptotic stability of the output of the exactly linearized system is derived. Performance issues of the system with self-excited oscillations are validated with experiments.

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Y2 - 10 June 2009 through 12 June 2009

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Inducing oscillations in an inertia wheel pendulum via two-relays controller: Theory and experiments

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