@inbook{0ca4f9a6e183400dbce88932653dcec1,
title = "Generating self-oscillations in furuta pendulum",
abstract = "This chapter illustrates the DF, Poincar{\'e} maps, and LPRS to obtain the desired amplitude and frequency of SO of an experimental Furuta pendulum. The problem becomes more complicated when oscillations are around an open-loop unstable equilibrium point that corresponds to the upright position of the pendulum. Recalling that TRC design requires linear model of the plant, such linearization was made through Taylor expansion around an unstable equilibrium point. The experimental results illustrate motions at several velocities (frequency) and maximum position (amplitude), and then TRC supply, for generic SO of a wide range of frequencies.",
keywords = "Coulomb friction, Describe function, Equilibrium point, Homoclinic orbit, Periodic motion",
author = "Aguilar, {Luis T.} and Igor Boiko and Leonid Fridman and Rafael Iriarte",
note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2015.",
year = "2015",
doi = "10.1007/978-3-319-23303-1_7",
language = "Ingl{\'e}s",
series = "Systems and Control: Foundations and Applications",
publisher = "Birkhauser",
number = "9783319233024",
pages = "91--98",
booktitle = "Systems and Control",
edition = "9783319233024",
}