Stabilization of the furuta pendulum based on a Lyapunov function

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We propose a Lyapunov-function-based control for the stabilization of the under-actuated Furuta pendulum. Firstly, by a suitable partial feedback linearization that allows to linearize only the actuated coordinate of the system, we proceed to find a candidate Lyapunov function. Based on this candidate function, we derive a stabilizing controller, in such away that the closed-loop system is locally and asymptotically stable around the unstable vertical equilibrium rest, with a computable domain of attraction. © Springer Science+Business Media B.V. 2007.
Original languageAmerican English
Pages (from-to)1-8
Number of pages0
JournalNonlinear Dynamics
StatePublished - 1 Jul 2007


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