Katsuhisa furuta biography samples

Introduction

This article reports some experiments performed with the Furuta pendulum. The schematic representation of this mechanical system is shown in Fig. 1, and the actual system where the experiences were carried out is shown in Fig. 2. This kind of pendulum has been studied by a number of authors [1][2][3][4]. As is well known, this device quite effectively permits us to study the two main problems displayed by the inverted pendulum: the swing-up, and balancing it at the upright position. The first problem is to swing the pendulum up from the hanging position to one close to the upright state, and the second is to stabilize the pendulum at the desired position, once it is near that position. The swing-up problem can be solved by injecting energy to the system in order to move the pendulum from the hanging to the upright position. To deal with this problem, Fradkov's speed-gradient (SG) method [5] is commonly used. This method leads to a control law that causes the pendulum to approach a region close to the desired upright position. In the current work, two SG control strategies are discussed. The first one is based on a second-order model and is the most commonly used in the literature [1,6]. The second one take

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